Abstract: Positioning technology is one of the technologies for mobile vehicle in coal mine, which can lay the basis for realizing the cooperative automation of coal mining equipments. Aiming at the problem of GPS unavailable in coal mine enclosed environment, a new method was proposed which adopt an inertial measurement unit including three-axis accelerometers and gyroscopes to estimation the pose, acceleration, velocity and position of mobile vehicle in coal mine. Then, the position and pose performance of mobile vehicle was tested and accumulation error of position estimation was revised on the positioning platform. The experiments results indicate that the inertial measurement unit can keep effective pose tracking for mobile vehicle and reduce the accumulation location error under the state estimation in the coal mine.