The invention relates to the technical field of
robot automatic following and positioning, and discloses a UWB single-
chip robot automatic following
system based on AOA positioning, which comprises a passive UWB tag, a
robot UWB
base station and a cooperative positioning network formed by
wireless links of the passive UWB tag and the robot UWB
base station, the passive UWB tag is integrated with a rectification antenna, a micro-power-consumption controller and a backscattering modulator and is not provided with a battery. The rectification antenna receives the UWB
radio frequency energy and converts the UWB
radio frequency energy into
direct current According to the AOA positioning-based UWB single-
chip robot automatic following
system, battery-free endurance is realized through passive UWB
label design, the positioning precision of a complex environment is improved by fusing an AOA and TDoA
hybrid positioning
algorithm, the problem of multi-target conflict is solved by adopting a time division and
space division multiplexing hybrid multiple access protocol, the endurance constraint of an active
label is thoroughly eliminated, and the positioning precision of the robot is improved. The method can also stably work in a non-line-of-
sight scene, supports simultaneous following of multiple targets, remarkably reduces the maintenance cost, and improves the positioning stability and scene adaptability.