The tunneling guidance system effectively addresses issues such as insufficient roadway forming accuracy, slow tunneling speed, high labor intensity of tunneling drivers, and difficulty in reducing personnel at the working face. The system consists of a laser pointer, a pointer controller, a target, a mine-used intrinsically safe laser radar, and a mobile display terminal. It performs real-time target tracking of the target through the intelligent vision system built into the laser pointer, and measures the position and attitude of the roadheader body based on the photogrammetry principle; at the same time, it realizes 3D modeling of the roadway via the mine-used intrinsically safe laser radar. The system displays the calculated deflection information based on position and attitude data, which is transmitted to the roadheader control module to assist in achieving automated tunneling. Additionally, it provides adjustment suggestions for multiple parameters such as position and attitude. Tunneling drivers and remote control consoles can adjust the position in real time according to the adjustment suggestions and real-time video/point cloud imaging, realizing local and remote auxiliary precise tunneling operations of the roadheader. The pointer can continuously navigate 300 meters under the condition of dust concentration ≥ 200mg/m³, with a position measurement accuracy of ≤ 2cm and an attitude measurement accuracy of ≤ 0.2°, filling the gap in the industry.