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We integrated the reality and the development of the navigation technology at home and abroad, considered the operating feature of underwater wheeled mining vehicles for mines and their poor working conditions, applied the laser gyro inertial autonomous navigation system advanced at home and abroad during the cooperation between the college and enterprises, and thus have designed the underwater integrated navigation system. The application test shows: The integrated navigation system researched in this paper enjoys a proper design scheme, achieves the expected navigation accuracy and primarily overcomes the positioning error accumulated over time. Keywords-Strap down Inertial Navigation System (SINS), C language, MS-DOS Operating System, Accelerometer, Milemeter, Integrated Navigation I. DEBUGGING OF INTEGRATED NAVIGATION SYSTEM The integrated navigation system is composed of the laser gyro SINS, the temperature sensor data collection, the integrated navigation software, the milemeter, the data processing computer, and the mounting transition plate, cables, etc. The system structure is shown in Fig. 1. Fig. 1 The System Structure 1. Hardware Debugging The self-made special debugging plate debugs the hardware of the system. The other measuring instruments required by the debugging are shown in Table 1: TABLE I. MEASURING INSTRUMENTS UTILIZED Description Model Key Indicators

Debugging and Application Test for Integrated Navigation System