Abstract: Because the work space is small and the environment is changing with the advancing of the working face, a kind of inspection robot system is designed which can complete the inspection task independently. The robot is equipped with 3d scanner to complete the recon-struction of underground space working face scene, and the rigid-flexible track design is adopted to adapt to the environment of the fully mechanized working face. Aiming at the design characteristics of rigid-flexible integrated track, in order to reduce the influence of the track connectors on the inertial navigation and positioning of the inspection robots. Inertial navigation/odometer incremental navigation is used to complete the positioning of the inspection robot，the experiment shows that the positioning accuracy of this scheme can reach 10-3 magnitude on 40km road. At the same time, through the dynamic analysis of the gyroscope data when the inspection robot passes through the track connection point, the identification of the track connection piece and the detection of the jitter point are completed, and the segmentation filtering is realized through the jitter detection to improve the positioning accuracy of the inspection robot. The experi-mental results show that the judgment of track connection is accurate, and the piecewise filtering based on jitter detection can effectively improve the positioning accuracy of inspection robot.