YHL12 mining intrinsic safety inertial navigation sensor is the first MEMS inertial navigation sensor of its kind in China to obtain the safety mark certificate for mining products. It boasts advantages such as low cost, compact size, low power consumption, and strong shock resistance. The product is capable of measuring attitude angles, angular velocities, accelerations, and other information output functions, and also features quaternion output function for calculating the sensor's attitude. In underground coal mines where satellite signals cannot be covered, this product can be used in combination with other sensors such as lidar, visual sensors, and UWB, to achieve precise positioning of vehicles and mobile robots through multi-sensor data fusion technology.