###### Abstract  
Autonomous navigation technology is the basis of underground crawler walking equipment automation. Based on research of the sector laser pose parameter detection method, a pose detection system based on a cross laser is proposed. The mathematical model between pose parameters, laser receiver measurement data and tilt sensor measurement data is established by vector algorithm and the expression of key pose parameters is deduced. This paper studies the deviation correction control strategy of crawler walking equipment and puts forward the point deviation correction control strategy based on roadway excavation technology. Firstly, the end position of the path is determined according to the initial pose of the roadheader. Then, Bessel curve is used to plan the path between the starting point and the endpoint, and the pure tracking algorithm is used to track the planned path. The measurement errors of \(X\) and \(Y\) coordinates and yaw angle of roadheader within 10 80 m shall not exceed 10 mm, 32 mm and 0.65\({}^{\circ}\). Using the point deviation correction strategy, the positioning error of the roadheader at the end of the path is less than 13 mm, and the yaw angle error is less than 0.16\({}^{\circ}\). In the deviation correction process, the maximum angular velocity of the roadheader is 0.07 rad/s, which is less than 0.82 rad/s of the conventional deviation correction strategy. The results show that the point deviation correction strategy can not only ensure the accuracy of motion control, but also improve the stability of equipment motion. crawler walking equipment; cross laser; pose detection; automatic deviation correction control strategy 20221212072122120721221221221221221221221221221221222122212  
of the roadway for simulation analysis. [PERSON] [14] proposed a pose parameter detection system of roadheader based on a fan laser. [PERSON] [15] proposed a laser receiver spot location algorithm based on window scanning, frequency domain filtering and window scanning, which indirectly improves the detection accuracy of pose parameters. [PERSON] [16] proposed a single-station multi-point time-sharing attitude measurement method based on IGPS and designed an experimental system to verify the accuracy of the method. [PERSON] [17] applied ultra-wideband positioning technology to the pose detection of the roadheader body and proposed a detection method of the pose parameters of the roadheader based on ultra-wideband ranging. [PERSON] [18] proposed a visual positional detection method based on a double cross laser. [PERSON] [19] proposed a situation as a whole positioning method of roadheader based on a parallel laser beam. By analyzing and processing the two-point and three-line images formed by the laser pointer, the attitude of the equipment is obtained by using the spatial solution algorithm. [PERSON] [20] proposed a pose detection method based on roof vision. Through the image preprocessing of the roof, the roof target is identified, and the features are extracted. Then, the pose of the roadheader is solved by PNP algorithm. [PERSON] [21] proposed an inertial navigation positioning method for Roadheader Based on zero speed correction. [PERSON] [22] proposed a vision/odometer/inertial navigation dynamic pose integrated measurement method and corrected the measurement value of inertial navigation/odometer with reference to the vision measurement results. [PERSON] [23] proposed a pose detection method of roadheader based on multi-sensor fusion, and on this basis, studied the automatic cutting method of arbitrary roadway sections. [PERSON] [24] proposed an autonomous deviation correction method for roadheader based on a regional grid. [PERSON] [25] studied the directional correction principle of the roadheader in the roadway and established the directional correction model of the roadheader. The trajectory tracking controller is designed based on Lyapunov function, and the trajectory tracking problem of roadheader is solved by the backstepping method.