The invention discloses an inertial navigation method applicable to AGV storage, which comprises the following steps of S1, building a navigation system; S2, reading magnetic marker data; S3, acquiring trolley offset data; S4, programming a route; S5, acquiring gyroscope angle; S6, correcting the angle; S7, reading RFID; S8, determining an operational mode; S9, controlling movement; and S10, repeating the steps S2-S9. According to the invention, the magnetic marker is adopted to replace a magnetic stripe and a two-dimension code, so that the cost is saved, and the defect that the two-dimension code is influenced seriously by dirty environment at the same time, and the trackless navigation can be realized; the system is accurate in measurement position, the positional accuracy can be +/-5mm, the angle accuracy is +/-0.1 degree, the navigation accuracy is high and can be +/-10mm and the navigation speed is 1m/s, and the resource is saved effectively.