Borehole ground penetrating radar (BGPR) can effectively solve the contradiction between detection depth and accuracy of traditional ground penetrating radar. In order to realize orientated detection and accurate location of geologic anomalous body with BGPR, the data acquisition and control system of BGPR for ultra-deep orientated detection is designed in this paper. Firstly, the orientated detection functional module including control unit, control algorithm and mechanical structure is researched. The closed-loop control unit is composed with gyroscope, one-chip computer and stepper motor. The control algorithm is PID, which can determine the motor control parameters according to the deviation between the real-time angle acquired from gyroscope and the setting detection angle. Then the motor drives the “double tubes” mechanical structure to finally realize orientated detection. Secondly, the radar transmit-receive pulse control circuit, radar reflected wave signal acquisition circuit and communication circuit are designed, whose main control chip is STM32F407. Finally, the key signals of the above system such as the transmit and receive trigger pulses are tested and analyzed, and the field model and coal mine working face detection are carried out using the orientated detection BGPR, which is equipped with the above-designed system. The signal test results and detection results show that the novel system can fully meet the functional requirements of orientated detection BGPR, and the maximum deviation between the measured and theoretical values of key signal evaluation indexes is only 9.8%. In addition, the orientated detection BGPR can accurately detect the positional information such as the depth and orientation of the target, and can also accurately locate the interface between coal seam and rock stratum.