LPNAV: Automatic Guided Vehicle Navigation System

Automatic Guide Vehicle (AGV)


LPNAV is an automatic guided vehicle (AGV) navigation system that combines IMU, optical, GNSS and odometry data to calculate accurate position information. The accurate detection of a vehicle’s position is important for many types of robotics devices, such as vacuum cleaning robots and autonomous cars.

In outdoor environments, GPS can be used to determine location with sub-meter accuracy. In indoor environments the GPS signal is not available and other measures to acquire position information need to be used such as tracking beacons or optical markers.

Usually a single tracking method is not sufficient to provide higher degrees of accuracy and system responsiveness. With LPNAV we introduce a modular solution that is based on the core technology of our inertial measurement units (IMU) and allows the fusion of various signal sources to calculate accurate and reliable position information.

Supported Input Sources

LPNAV fuses various sensor data sources to output navigation information

The method of combining several data sources is called sensor fusion and the accurate modelling of the vehicle’s dynamics and steering system allows for the prediction of the vehicle’s movement parameters if sensor data is not available or unreliable with centimeter-level accuracy.

LPNAV can process data from diverse sensor sources like global navigation satellite systems (GNSS), indoor optical navigation systems or camera sources to compute the best estimate of the vehicle’s position and orientation.

Application Areas

Autonomous guided vehicle (AGV)

Automatic Guided Vehicles (AGV)

Self-driving car

Autonomous Driving

Autonomous forklift

Warehouse Logistics


Product name LPNAV
Supported Platform Linux (ARM, x64) and Windows
Packaging Options Standalone application with web interface
Dynamic library
Unity plugin
API options C-API and REST web API
Vehicle models Four-wheeled vehicle with Ackermann steering model
Two-wheeled vehicle
Simplified vehicle model with one wheel
Supported inertial measurement unit LPMS-IG1 high-precision 9-axis inertial measurement unit
LPMS-IG1P high-precision 9-axis inertial measurement unit with GPS receiver and optional centimeter-level RTK-GPS unit
Supported vehicle dynamics sources CANBUS interface via OBD-II and PEAK-CAN-USB for direct access to CANBUS data
Supported absolute positioning input Global Navigation Satellite System (GPS, GLONASS, BeiDou, Galileo), interface for indoor positioning input
NMEA source via network or serial port
Position and Orientation update rate Up to 1000 Hz


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