Based on inertial navigation

dual magnetic nail positioning and visual positioning

mobile robot combined positioning system is studied. Based on the principle of magnetic positioning

a dual magnetic nail absolute positioning model is proposed

which adds compensation for inertial navigation angle error

and completes the dual magnetic nail absolute positioning mobile robot. Aiming at the interference magnetic signals in some areas in the warehouse

based on the image processing technology and Skeleton algorithm

ribbon path deviation data with higher precision is extracted. The same model for cumulative error of inertial navigation as the dual magnetic nail positioning is established

and the absolute positioning of the mobile robot in the world coordinate system by region is completed.