Aiming at the difficulties of the harsh environment of the tunneling working face and the frequently happened slippage movement of the roadheader, which results in the fact that the navigation parameters of the roadheader cannot be accurately obtained, an autonomous navigation method of roadheader aided by two-dimensional mileage is proposed. A two-dimensional mileage measuring device is developed and an autonomous navigation system of roadheader aided by two-dimensional mileage is built. The error equations of the two-dimensional mileage measuring device and strapdown inertial navigation system are established, and a two-dimensional mileage-assisted integrated navigation algorithm is derived. Then, to deal with the problem that the time-varying statistical characteristic of the measurement noise leads to the increase of the system estimation error, a data fusion algorithm based on fuzzy theory is proposed to adjust the noise covariance matrix on line and in real time. The simulation experiment results show that compared with the traditional fusion algorithm, the fuzzy fusion algorithm can reduce the heading angle error by 34. 78% , and the positioning errors of three directions by 44. 33% , 41. 82% and 42. 26% , respectively. The navigation and positioning experiment of roadheader was conducted, a positioning accuracy of 0. 052 m is achieved, which meets the autonomous navigation requirements of roadheader in unmanned tunneling working face.