Aiming at the problem of complex underground environment and poor positioning accuracy of traditional inertial navigation, a pose detection system composed of cross pulse laser and pose detection device is proposed. Through the Euler Angle method, the pose parameters of roadheader are solved, and the pose detection experiment platform is set up to verify the feasibility and accuracy of the pose detection system. The results show that the distances of the starting point and the ending point are 59.36 mm and 59.46 mm respectively, and the errors are 0.64 mm and 0.55 mm, respectively. For the overall detection system, the position and pose of the boring machine were detected 10 meters away from the light source. The maximum error in the X axis direction was 0.46 mm, the maximum error in the Y axis was 95 mm, the maximum error in the Z axis was 0.47 mm, the maximum error in the heading angle was 0.21°, the maximum error in the pitch angle was 0.07° and the maximum error in the roll angle was 0.06°. It can be seen that the pose detection system can resist ambient light interference and meet the pose measurement accuracy requirements of underground boring machine, which provides a certain reference for downhole pose detection.