Abstract: Aiming at the problem that the performance of key equipment in underground coal mine is degraded and the function is lost to lead to a safety accident eventually due to the deviation of the installation position and orientation or the artificial movement of the device, a kind of sensor suitable for autonomous monitoring equipment position and orientation in coal mine is designed. The sensor adopts the modular design idea to design the software and hardware. The hardware is based on ARM embedded chip, which integrates UWB module, ultrasonic module and inertial measurement unit （ＩＭＵ）, and reserves serial ports, network ports and WIFI interfaces for data interaction; the software integrates UWB one-dimensional positioning data and ultrasonic altimetry data to achieve centimeter-level positioning accuracy in underground space; the inertial measurement unit data is subjected to complementary filtering attitude calculation, and the attitude angle of the equipment is sensed in real time.