That's a guest error message, meaning it couldn't mount the root filesystem. 
This is almost certainly because you're not telling the guest kernel the right 
argument for where to find its rootfs (which you've provided with -cdrom). 
Googling suggests that you're getting this kernel from 
https://github.com/dhruvvyas90/qemu-rpi-kernel -- which has a readme file which 
tells you what command line options you need to use. Specifically:
 * you need to have 'root=/dev/sda2' in your -append argument
 * you want to use -hda rather than -cdrom

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https://bugs.launchpad.net/bugs/1767200

Title:
  Kernel Panic Unable to mount root fs on unknown-block(31,3)

Status in QEMU:
  Incomplete

Bug description:
  Using the latest qemu:
  qemu-system-arm.exe -kernel C:\Users\a\Downloads\kernel-qemu-4.4.34-jessie 
-cpu arm1176 -m 256 -machine versatilepb -cdrom 
C:\Users\a\Downloads\picore-9.0.3.img

  Gives error:
  Kernel Panic Unable to mount root fs on unknown-block(31,3)

  I have tried different ARMv6 ARMv7 images/kernels with the same
  result.

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