A system for steering a drilling device comprising a drill pipe, is provided therein, the system comprising: a hoop sleeved on the drill pipe of the drilling device and having an outer diameter substantially equal to an inner diameter of a hole to be drilled; and a steering driving mechanism provided between the hoop and the drill pipe, for controlling a radial displacement of the drill pipe relative to a center axis of the hole to be drilled while drilling. The steering driving mechanism comprises one or more sub-mechanisms for connecting the hoop and the drill pipe and driving the drill pipe to move inside the hole, wherein each of the sub-mechanisms comprises an actuator adjustable in length, and a link element with one end rotatably coupled to the actuator and the other end rotatably coupled to hoop.