The shearer is one of the key equipment in the fully mechanized mining face， and its accurate positioning is the premise to realize the intelligent mining of the mining face. The deterministic drift and non-deterministic drift errors generated by the inertial navigation positioning of shearer are analyzed， and the data fusion model of the differential inertial sensor module is established to study the differential calculation method of the shearer position and attitude. The shearer operating condition of undulating motion is simulated， and the simulation analysis of the differential calculation algorithm is carried out. The simulation results show that the proposed calculation algorithm is superior to the original method in terms of the cumulative error and the maximum error. An experimental platform for shearer inertial navigation positioning and a motion condition simulation test platform are designed and built to analyze. The experimental results verify the feasibility and effectiveness of the proposed position and attitude calculation method.