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a long wall coal mining machinery positioning system based on radar is introduced. The system is based on radar ranging sensor to determine the position of mining equipment relative to mine coal roadway infrastructure. The rationality of positioning using radar sensor is verified by experiments. In order to estimate two key positioning parameters from a single radar signal, i.e. along track position and cross track position, several probabilistic data processing technologies are studied. For cross track position, the traditional Kalman filter method is enough to achieve reliable estimation. For along track position estimation, the specific infrastructure elements on the rib wall of coal roadway must be identified by tracking algorithm, We explore a new visual analysis method in 3D interactive display to facilitate the identification of important features for classifier algorithm. Based on the output of classifier, using the identified elements as location path points can provide a stable and accurate location estimation of mining equipment.