The invention discloses an 
underground space high-precision positioning method based on 
laser scanning and sequence encoded 
graphics. Aiming at the rapid high-precision positioning, orientation, altitude determination and navigation of moving targets in a GPS 
signal-free underground well of a mine, the method can make the breakthrough in key directions from the design, decoding and optimized 
layout of the encoded 
graphics, the economical and 
rapid acquisition of a fine and accurate road network-a three-dimensional well network 
space model consisting of underground tunnels of mine, a high-precision positioning 
algorithm of the moving targets in well restraint spaces (precise resolving of position, direction, altitude parameters), a three-dimensional well network space matching 
algorithm, athree-dimensional navigation technology to a final navigation platform and terminal 
control system, and the like, thus key technologies for underground rapid high-precision positioning and navigationas well as 
software and hardware systems are formed to eventually achieve the leaping-development of a underground unmanned mining technology for the mine in our country. Besides, the method disclosed in the invention can also meet the application demands of large urban 
underground space, deep and long traffic tunnel, large grotto, large building interior, large overpass and subway space on the rapid high-precision positioning and navigation of the moving targets, thereby pushing forward the development of the 
underground space positioning technology in our country.