针对隧道施工中双护盾硬岩隧道掘进机位姿的精密测量需求，设计了一种组合式位姿测量系统。系统把单目视觉和激光标靶相结合，在利用激光标靶和全站仪完成掘进机后盾体位姿测量基础上，通过所设计的光学特征点空间分布模型，实现特征点的准确识别，根据特征点之间已知的几何约束关系和摄像机的透视投影模型，进行实时的图像处理和位姿解算，实现掘进机前盾体相对后盾体位姿的非接触式测量。系统建立了光学特征点、智能视觉传感器、激光标靶和全站仪之间的坐标转换关系，搭建了模拟双护盾硬岩隧道掘进机位姿变化的实验平台，并利用全站仪进行精度验证，最终完成掘进机全方位的实时位姿测量。实验结果表明：在30 m×3 m测量范围内，系统测量精度优于5 mm。测量系统具有精度高、抗噪声能力强和实时性好等优点，可满足隧道施工中双护盾硬岩隧道掘进机位姿的精密自动测量要求。

The demand for precision pose measurement of double shield universal compact TBM, a new combinatorial pose measurement system is established. The system combined with monocular vision and laser target, by making use of laser target and total station, pose of back shield is measured real-time, on the basis of that, the spatial distribution mode of the optical characteristic points is proposed, by which the characteristic points is recognized, by using the feature points’known geometric constraints and the camera perspective projection model, the intelligent vision sensor can real-time process image, and calculate the position and orientation,the position and orientation between front shield and back shield is measured non- contact.The system builds coordinate transformation relationship between the optical characteristic points, intelligent vision sensor, laser target and total station.The experimental platform which can simulate the position and orientation change of double shield universal compact TBM is established,and the accuracy verification experiment is conducted by a total station, comprehensive pose of TBM is figured out.Experimental results indicate that the precision of the system is less than 5 mm in a field of 30 m×3 m.The measurement system has the advantages of higher precision, real time and rapid speed, as well as strong anti-jamming. It can satisfy precision automatic pose measurement requirements of double shield universal compact TBM in tunnel construction.