In order to realize unmanned operation of boomtype roadheader, a pose detection method based on UWB ranging technique is proposed. Through analyzing the working conditions of roadheader and local positioning technology principle, a UWB pose detection system is designed. The system uses 4 mobile base station robots equipped with UWB modules to measure the distance from the fuselage nodes to base stations. After calculating the ranging information, the pose parameters of the roadheader are obtained; The UWB ranging accuracy verification experiments in a narrow and closed tunnel were carried out, and the system pose accuracies based on direct analysis algorithm and Caffery algorithm were simulated and analyzed. The study results show that the ranging accuracy of the UWB module can be less than 2 cm in the narrowclosed tunnel. The system threeaxis positioning accuracy increases linearly from 4 mm to 3 cm in the 10~95 m narrowclosed tunnel, and the accuracies of the heading angle, pitch angle and roll angle of the system increase linearly from 0.2° to 1.5°, which satisfies the pose detection accuracy requirement of boomtype roadheader and provides a basis for realizing the autonomous navigation of roadheader.