Inertial navigation system for storage AGV

The invention discloses an inertial navigation system for storage AGV (Automatic Guided Vehicle). The inertial navigation system comprises a gyroscope, a magnetic nail, an encoder, a magnetic sensor, a RFID (Radio Frequency Identification Device) card, a RFID card reader, a control unit, left and right drivers and left and right wheels, wherein the magnetic nail and the RFID card are arranged on an AGV channel; the gyroscope, the RFID card reader and the control unit are arranged on the AGV; the magnetic sensor is arranged on a central line at the bottom of a vehicle head; the left and right drivers and the left and right wheels are arranged at the bottom of the vehicle; the drivers are connected with the wheels; the gyroscope, the magnetic sensor, the encoder, the RFID card reader and the left and right drivers are respectively connected with the control unit. The magnetic nail instead of a magnetic stripe and a two-dimension code is adopted by the system, so that the cost is effectively saved while the defect that a two-dimension code is seriously influenced by dusty environment is settled, the trackless navigation manner is realized, the measuring position of the system is accurate, the position precision can reach +/-5mm, the measuring angle is accurate, the angle accuracy is +/-0.1 degree, the navigation precision is high and the resources are effectively saved.