Underground positioning and orientation system based on inertial navigation odometer millimeter wave radar ranging

The invention discloses an underground positioning and orientation system based on inertial navigation odometer millimeter wave radar ranging. The system comprises an inertial navigation module, an odometer module, a millimeter wave radar ranging and positioning module, an information fusion module and an upper computer data management module, the inertial navigation module is used for outputting the position, speed and posture of the coal mining machine; the odometer module is used for outputting high-precision mileage increment; the millimeter-wave radar ranging and positioning module is used for completing ranging and positioning of the coal mining machine by the millimeter-wave radar; the information fusion module is used for providing optimal position estimation for the coal mining machine; and the upper computer data management is used for storing, managing and applying the positioning and orientation information transmitted by the lower computer in real time, so that the walking track and straightness