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.