What is Pellucidar and how did David Innes discover it?

Pellucidar is a prehistoric, inner world located within the Earth's hollow core[1]. It has its own internal sun, a superheated core of gaseous matter, which provides perpetual noonday light and heat[1].

David Innes discovered Pellucidar with Dr. Abner Perry, who built 'The Iron Mole,' a rocket-powered burrowing machine[1]. During a test bore, the machine went out of control, burrowing at incredible speed through the Earth's crust[1]. They passed the center of gravity and emerged into Pellucidar, the inner world[1][1].

Space: At The Earth's Core by Edgar Rice Burroughs

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