Aiming at the problem of real-time positioning of inspection robot in coal mine

a method for integrated navigation position and pose detection based on multi-sensor information fusion is proposed. By researching on attitude navigation algorithm for micro-electro-mechanical system（ MEMS） strapdown inertial navigation system（ SINS） and geomagnetic navigation algorithm

real-time heading angle information is obtained from the geomagnetic information

and the multi-source information fusion method is used to suppress the drift of heading angle by Kalman filtering. Combined with the quaternion and the improved algorithm of heading attitude reference system

attitude information of the inspection robot is determined

and the real-time pose measuring of the robot is realized. Based on the experimental platform of precise three-axis turntable and fully mechanized mining face

the static drift

dynamic error in motion and precision under vibration condition of the measuring system are tested experimentally. The experimental results show that the standard deviation of static drift is not more than 0. 02

and the measurement precision of the system is improved compared with the single pose detection system

basically meets the requirements of application.