The invention discloses an AGV combined navigation and positioning method based on vision and IMU or odometer, belonging to the technical field of automatic control, including four steps of establishing a coordinate system, setting configuration files, AGV initialization and combined positioning. The controller processes the two-dimensional code information to obtain the initial pose of the AGV; when the visual camera collects effective ground information, the controller uses the Kalman filter algorithm to fuse vision and IMU or odometer data to correct the positioning error and complete the integrated navigation positioning. The beneficial effects of the present invention are: get rid of the dependence of the traditional method on special reference objects, only need the existing common ground reference objects, greatly reduce the cost, difficulty and workload of on-site construction; do not rely on radio frequency positioning signals (such as UWB, WIFI , Bluetooth, etc.), suitable for applications in complex electromagnetic environments such as stage theaters; the visual camera shoots the ground, and is not afraid of being blocked by people or obstacles (such as laser reflectors, lidar, etc.), suitable for applications in dynamic unstructured environments.