Abstract: In order to improve the precision of current mine personnel positioning system and reduce the system cost, proposed the concept of monitoring system of underground personal position and vital signs, Using inertial navigation technology to improve the precision and stability of the mine personnel positioning system, added vital signs monitoring function into system which improved the personnel information content. In order to realize the function， quaternion algorithm, nondestructive kalman filter algorithm and adaptive median filter algorithm were studied. Developed the corresponding system with Arduino platform. Simulation test showed that: system could implement the acquisition of personal temperature, pulse and position. The conclusion provides reference for improvement of underground personnel positioning system.