Abstract: In view of problems of big error, low accuracy of existed positioning method of shearer, an inertial navigation positioning method of the shearer based on Kalman filtering algorithm was proposed. The method combines inertial navigation positioning results of the shearer with ideal track of the shearer set by central computer of control system of fully mechanized working face, then uses Kalman filtering to obtain the optimal estimation of the shearer position, so as to get final positioning result. The simulation results show that the method can avoid inertial navigation positioning error accumulated over time with high positioning accuracy.