A shearer dynamic positioning method based on geomagnetic navigation with fuzzy-adaptive Kalman filtering（ AKF） is proposed to solve the problem that inertial navigation system generates accumulated error in shearer positioning and low real-time positioning precision. Measurement noise covariance matrix online adaptive adjusting is realized by combining inertial navigation with geomagnetic aided technology with Iterative Closest Contour Point（ ICCP） algorithm and introducing the method of fuzzy AKF. The shearer inertial navigation system is simulated

and the simulation results show that the suggested method can overcome the shortcoming of positioning error of inertial navigation accumulate with time and precise positioning of shearer can be realized in real time.