In order to solve the problem of position calibration of two-dimensional laser range finder sensor in automated guided vehicles, a new calibration method is proposed. The attitude of sensors in the vehicle is obtained by solving the trajectory equation and using the sensor attitude information when the vehicle is controlled to move straight. When the vehicle is controlled to spin in one spot, according to the sensor, the trajectories of the vehicle control points and their phase relationship, one can get the position of the sensor in the vehicle. The experimental results show that this calibration method is simple, accurate and reliable, and the calibration accuracy can meet the requirements of vehicle navigation.