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Automatic tracking and guidance for excavator should be realized by high-precision positioning on the walking mechanism and working device, which can improve the working efficiency, optimize the working effect, and reduce the work loss. Based on the user receiver and antennas of Beidou high-precision, a high-precision positioning system is formed to realize automatic tracking and guidance of the excavator assisted with the angle sensor and the on-board computer. Through the summarization and discussion of running process, detailed algorithms including overall positioning of the equipment, analysis of motion posture, and coordinate transformation are introduced and implemented in the software program. The system has been tested in a mine excavator and compared with traditional methods used to prove the effectiveness and applicability of this method in high-precision positioning of excavator walking mechanism and working device.