The invention discloses a mobile robot positioning navigation system and method based on a teaching multi-sensor. The system comprises an upper navigation module, a lower motion control module, a handle and a computer; the handle provides an enabling effect of trolley motion control; the computer is used for monitoring and debugging a robot; the lower motion control module is used for realizing the motion control of a trolley platform, displaying trolley state information, and reading and transmitting encoder data; and the upper navigation module is used for acquiring point cloud data and speed data. The mobile robot positioning navigation system based on the teaching multi-sensor provided by the invention has the advantages that the structure is reasonable and concise, the method is convenient and fast, indoor AGV (Automated Guided Vehicle) navigation can be carried out quickly through the method, a non-specialized person is easy to use the method, the operation is simple, and the useis convenient. The calculation efficiency of the method of the system is high, and paths of any shape can be independently learned and traversed, and meanwhile, the speed and direction can be corrected according to three-dimensional laser data and position information provided by speedometer information.