Tunneling equipment space pose detection method and device based on multi-heterogeneous information redundancy

The invention discloses a tunneling equipment space pose detection method and device based on multi-heterogeneous information redundancy, and relates to the technical field of coal mine intelligent tunneling equipment. The tunneling equipment space pose detection method based on multi-heterogeneous information redundancy comprises the following steps: when the state of an output result of a speedometer is a normal state, determining the space pose of tunneling equipment by adopting a first combined detection structure of the speedometer and inertial navigation, and when the output result of the speedometer is abnormal, determining the space pose of the tunneling equipment by adopting a second combined detection structure of the speedometer and inertial navigation; a single inertial navigation is not adopted to detect the space pose of the tunneling equipment working during long endurance, but the specific state of the visual condition of the roadway working face is a state with good visual condition or a stat