Abstract: In order to measure the position and attitude of roadheader dynamically and automatically, by analyzing and comparing the features of several existing measurement methods. a position and attitude multiple measurement method for roadheader based on vision/inertial navigation system (INS) was proposed. By getting the attitude of roadheader and the position of monocular vision measurement roadheader with strapdown inertial navigation system (SINS), the dynamic five degree-of-freedom (DOF) measurement was realized. This method was verified with the fast driving equipment in Daliuta mine. The experiment results show that the accuracy of attitude measurement is within 0.1°, the standard deviation of static drift is within 0.25° and the accuracy of position measurement is within 1cm. This method can be used for position and attitude dynamic measurement for roadheader, and possesses very broad prospect in engineering practice.