Aiming at the problems of slow response speed and high cost faced by linear pipe jacking machine in tunneling guidance, a real-time pose measurement method based on dual camera targets is proposed. The measurement target is composed of two opposite industrial cameras and two photosensitive imaging screens installed in the opposite direction, supplemented by an indicator laser with known spatial orientation information. By using the techniques of spot image analysis and processing, calibration grid retrieval and Euler angle calculation, the proposed method can complete the measurement of horizontal/vertical deviation of machine relative to the planning line in the engineering coordinate system, so as to realize the guidance. The experimental results show that the azimuth repeatability measurement accuracy of the proposed dual camera target is better than 0.03°, the absolute measurement error is less than 0.05° and the horizontal/vertical deviation measurement error is less than 3 mm, which can fully meet the real-time accurate guidance requirements of the linear pipe jacking machine.