本文分析了矿山水下轮式采煤车的定位定向导航的可实现问题，通过对该系统的实物应用试验,实验结果表明了组合导航系统的有效性。-This paper analyzes the coal mines underwater wheeled vehicle location and orientation navigation problem can be achieved through the physical application of the system test, test results verify the effectiveness of the program.