Pairs of magnets were installed in the path at certain interval and were detected by a magnetic ruler to correct accumulation error of position and orientation of inertial guided AGV.

• 针对编码器和陀螺仪组成的AGV导航系统的积累误差，在路径上每隔一段距离设置一对磁钉，由磁栅尺检测进行绝对位姿校正。