Abstract: in order to improve the acuracy of the shearer three-dlimensional in rital posiioning a shearer posiioning method based on the combination of encoderand stra -down in rial navigaton system(SINS) was proposed and the po.sttoning equations was buili.The reatime atitde and displacement increment of the shearerwere respectively measured with the SINS and encoder.The postion of the shearer was calculated through ransfoming the displacemen increment of the shearer fronshearer coordinate frame to navigation coordinate frame. Ths positioning method can accurately measure the thre-dimnensional postin of alon eal hearet and efe:tively reduce the accumulated errors of the pure-inrtal navigation.To verifythe feasitility and evauate the accuracy of postining method throughloorator tes andfield tests.