Navigation and Positioning System Applied in Underground Driverless Vehicle Based on IMU

A position coordinate measuring system for the multisource information fusion of underground moving trains based on IMU inertial navigation system is proposed in order that the underground location technology of wireless sensor network (WSN) is difficult to arrange the anchor nodes and with the shortages of high cost and low location accuracy in the complex environment of coal mines, The system uses ARM processing chip, combined with NAV2 inertial navigation unit and PNP photoelectric velocity sensing, using wireless network to achieve real-time interaction with the upper monitor, to eliminate the cumulative error effect of IMU positioning in the mine by the method of beacon information location calibration. Experimental results show that the average positioning accuracy of this system is 0.25m and the positioning accuracy is 98.6%, which can meet the requirement of sub-meter high-precision navigation and positioning of unmanned vehicles in the mine.