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As the traditional dead reckoning system based on IMU and odometer is influenced by its undulating and slippery terrain, thus it affects the accuracy and robustness of the rover navigation system. In order to improve the positioning accuracy and robustness, the IMU / Odometer navigation system based on federal filter is proposed which takes full advantage of the information provided by IMU, adding a filter on the original method of dead reckoning which the output of ratio of power as the observations, then a mathematical model of the federal navigation system is set up to achieve the optimal fusion;Thus the high-precision positioning of the rover navigation system is achieved. Finally Underground Mine Road experiment proved the proposed method can effectively improve the accuracy and robustness of the positioning results of mobile platform navigation.