Limited by mining conditions in north China in the last century, a considerable part of mines adopt room and pillar mining. The goaf remains stable for a certain period of time, but with the increase of coal pillar exposure time, instability and failure may occur. Because of its hidden, irregular mining, long time and mining, the stability evaluation of these old goaf is a difficult problem. In the past, geophysical exploration, drilling and other methods are effective, but the efficiency is low. Based on the Space-Sky-Earth integrated remote sensing: InSAR retrospection of historical deformation, UAV observation of current surface failure patterns, and underground mining space comparison, this paper can quickly detect whether there has been collapse failure and failure trend in old goaf in a large range, thus providing technical support for the collapse prediction of old goaf. This paper takes a coal mine in Yulin, North China as an example to carry out research. On the basis of grasping the basic conditions of mining, this paper conducts long-series space-borne InSAR deformation observation and current high-precision UAV flight, integrates the quantitative surface deformation value with the qualitative surface failure interpretation results. Then, according to the underground coal mining process, the surface displacement of mining is analyzed year by year. Finally, the research results of the room and pillar type goaf, the surface collapse range, the deformation characteristics of reclamation, and the understanding of working methods are obtained. The results show that from 2007 to 2021, with the advance of underground mining zoning, there will be corresponding deformation and failure phenomena on the surface. However, in the central and northern part of the mining area, there has been no surface deformation, no landslide, no ground cracks and other failure phenomena since 2007, and by comparing the surface deformation characteristics of other mining areas, it is inferred that there has been no roof collapse in this area. Affected by the occurrence and mining mode of coal seam, stratigraphic lithology, topographic slope, time evolution and man-made transformation, the surface deformation and failure phenomena of underground coal mining in the working area are complex, which is typical in Yulin area of northern Shaanxi province. The Space-Sky-Earth observation method can provide reference for similar work.