Forward solution of shield tunneling pose based on the Newton-Raphson method

To achieve precise control of the shield tunneling pose, obtaining a real-time shield pose state during the excavation process is necessary to achieve closed-loop feedback control of the shield pose. This study proposes a forward solution method to address the high cost and low efficiency of direct measurement methods, such as using lasers and gyroscopes, for measuring shield pose. This method relies on the real-time measurement of the strokes of hydraulic thrust cylinders during shield tunneling. Based on the inverse kinematics of the shield machine, the Newton-Raphson method was used to calculate the shield tunneling pose. Accordingly, a forward solution algorithm for shield pose was developed using MATLAB, and the effectiveness of the proposed method was verified through an example analysis. The results demonstrated the high computational efficiency of the method, proving its potential application in real-time control systems for shield tunneling poses.