Abstract: In view of problem of big measurement error existed in current measurement method of heading angle of roadheader, a measurement algorithm of heading angle of roadheader based on Kalman filter was proposed. Firstly, the speed sensor was used to establish movement model of roadheader, and the model was taken as prediction model of heading angle of the roadheader; Then, laser emission instrument was used to establish observation model of heading angle of the roadheader; Finally, the Kalman filter algorithm was used to fuse predicted and observed values. The algorithm effectively eliminates the measurement error of heading angle, and realizes precise localization of the roadheader. The effectiveness of the proposed algorithm is verified by test.