The invention discloses an AGV composite guiding system based on an image and inertia technology. The system comprises an inertia guiding module, which can intelligently sense the positions and moving information of AGV in a vehicle coordinate system in every moment through a plurality of inertia sensors; a visual guiding module, which can intelligently sense the position and environment information of AGV through a visual sensor, when AGV move to a preset position in a reference coordinate system; an information interaction module, which efficiently passing information among the inertia guiding module, the visual guiding module, and a movement control module, and the movement control module, wherein the movement control module obtains the data of the sensors of the inertia guiding module and the visual guiding module, then the data of each sensor are fused by a Sage-Husa self-adaption Kalman filtering algorithm, according to the obtained fused data, AGV is controlled, and the accumulated errors of the inertia guiding module are corrected. Based on visual guiding and inertia guiding technologies, multiple information sources supplement each other, and an AGV composite guiding system, which has redundancy and higher navigation accuracy, is constructed.