Abstract: Aiming at the low precision of navigation system of coal mine rescue robot, combined with the characteristics of unstructured environment underground coal mine, the navigation method was proposed based on ultrasonic navigation and inertial sensors, which was suitable for the coal mine underground environment after disaster, and the algorithm was designed by using particle filtering techniques. The results showed that the navigation performance could meet the navigation requirement of coal mine rescue robot on account of the fusion of ultrasonic and inertial sensors, and the algorithm convergence speed was very fast. It improved the navigation performance and emergency rescue capability of coal mine rescue robot.