In this project, the algorithm improves UKF-SLAM and increases the process of interference detection. By expanding the system state variance, the uncertainty of AGV or road sign prediction is increased, so as to improve the accuracy of SLAM prediction.The process of interference detection and state variance bloat was added between UKF-SLAM data association and system status update process.Since external interference detection and state variance inflation are introduced before the system state update, the algorithm can respond quickly within the period when the interference occurs.