Micro Tunnel Boring Machines (MTBM) have seen wide applications in pipe jacking and microtunnelling projects. Accurate MTBM positioning and attitude measurement are crucial to guiding the MTBM's advance, controlling line and level of the subsurface tunnel, and tracking MTBM's production progress. In this paper, we first evaluate pros and cons of available MTBM guidance systems. Our evaluation covers prevalent passive and active laser targeting systems for short and straight drives, along with gyroscope-based inertial navigation systems specifically designed for curve drive. We then propose a real-time, automated solution to MTBM guidance by application of state-of-the-art robotic total stations. Our solution can provide the precision and cost-effectiveness as required in practice. Moreover, based on accurate MTBM position data collected, MTBM attitude is determined by a methodology of vector observation, without the use of traditional inclinometers. Simulation studies of the proposed solution indicate that the 3D positioning accuracy by a common, midrange robotic total station is better than 5 mm with surveying distances up to 500 m, which outperforms the majority of existing MTBM guidance systems.
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