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The applied research of AGV automatic navigation uses MPU9250 sensor integrating three-axis accelerometer, three-axis gyroscope and three-axis magnetometer．In the process of AGV moving, first, transformation of the car coordinates and geographic coordinates, determine the initial heading Angle from the parking point to the target point, and then obtain the course angle after fusion through the kalman filter data fusion, then fix the angle of AGV running process through the PID control algorithm, finally through manual control to guide the car parking to reach the target board. In this paper, the unfixed length navigation map of vehicle coordinate system and geographic coordinate system is studied.