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Underground coal fires are persistent subsurface hazards threatening energy resources. UAV thermal infrared remote sensing provides high-resolution observations of surface thermal anomalies, but these signals may be spatially offset from underlying fire sources. An integrated framework was developed for subsurface temperature-field reconstruction and surface–subsurface correspondence and offset analysis. Surface thermal anomaly centers were extracted using statistical thresholding, adaptive kernel density estimation, and intensity-weighted centroids. Subsurface temperature fields were reconstructed using an MGSM-RBF model that combines multi-Gaussian fire-source representation with residual correction. The framework was applied to the Sandaoba coal fire area using UAV thermal infrared data and 370 borehole temperature measurements from 39 boreholes, covering depths of approximately 0–85 m. Reconstruction accuracy was evaluated using spatially buffered cross-validation and compared with eight baseline methods. MGSM–RBF achieved the best performance, with RMSE = 92.49 $°\mathrm{C}$, MAE = 61.26 $°\mathrm{C}$, and $R^2$ = 0.81. Two surface thermal anomaly centers and three subsurface fire sources were identified, with primary combustion concentrated at 30–55 m depths. Surface anomalies were not vertical projections of subsurface sources. The horizontal offsets were approximately one-fifth to one-third of burial depth, reflecting depth-dependent and multi-source-controlled surface thermal responses. These findings support UAV-based coal fire interpretation and fire-control planning. Full article