As a kind of automated loading and unloading, handling equipment and high-precision transportation platform, the AGV mobile platform has a wide range of applications in the fields of smart factories, smart warehousing and smart logistics. It is of great significance for the research of AGV automatic navigation and positioning. Aiming at the application scenarios of AGV motion millimeter-level spatial positioning accuracy, this paper studies an angle measurement method of orthogonal line laser scanning mechanism and photoelectric sensor network perception, and proposes a spatial positioning method based on a virtual camera projection model. The system parameter calibration method that is based on the beam adjustment method is studied to realize the high-precision 3D positioning of the AGV mobile platform.