The box culvert jacking replacement method in underground three-dimensional traffic engineering is a construction technique that uses rectangular pipe jacking with minimal impact on the ground as a guide to advance the box culvert and gradually replace the pipe curtain, forming an underground three-dimensional traffic system. The guidance measurement of the box culvert is like the 'eyes' of tunnel construction, providing the position and direction for the advancement of the pipe curtain and box culvert, ensuring smooth penetration within the allowed deviation range. The precision control of pipe curtain jacking directly affects the subsequent advancement and penetration of the box culvert, so it is necessary to strictly control the measurement accuracy. During the process of box culvert jacking, real-time acquisition of the box culvert's attitude plays an important role in controlling the correct jacking of the box culvert and is a key link to ensure project quality. Whether it is the pipe curtain, box culvert, or the shield machine of subway tunnels, non-excavated underground pipelines, how to ensure high-precision guidance measurement has always been a hot issue in underground tunnel engineering. The practical issues of construction guidance control for subway tunnel excavation projects and ultra-long non-excavated pipe jacking projects have been systematically studied, including the establishment of reference benchmarks, multi-sensor integration and data joint processing, real-time data transmission, result visualization, and quality assurance systems. A complete theory, method, and technology for guidance control have been established; software and hardware systems with independent intellectual property rights have been developed for automatic guidance in box culvert jacking replacement tube curtain pushing process, subway tunnel shield machine automatic guidance, and ultra-long non-excavated pipe jacking automatic guidance. The project proposed a large-angle rotation nonlinear benchmark transformation theory, achieving the establishment of a unified coordinate framework for large bridge and tunnel engineering; established an underground linear engineering guidance control error analysis theory, and determined reasonable guidance control schemes and technologies for box culvert replacement tube curtain pushing, subway tunnel excavation, and ultra-long non-excavated pipe jacking; created a measurement robot-based system that combines high-precision gyroscopes. The technology of using sensor data from a dual-axis electronic inclinometer and stroke PLC to improve the accuracy of guidance control; proposing and adopting multi-sensor fusion acquisition technology and methods, extending robust estimation theory to bridge and tunnel engineering geometry fitting, significantly eliminating the impact of observation anomalies. The above innovative achievements have effectively improved the accuracy and reliability of guidance control, and achieved full automation. Invention and Innovation: ① Proposing an intelligent measurement theoretical system for urban underground engineering, establishing a complete theory, method, and technology for guidance control. ② Proposing the use of rigid body positioning principles to establish an algorithm for box culvert attitude positioning. ③ Creating a technology that uses measurement robots in conjunction with dual-axis electronic inclinometers, high-precision gyroscopes, and stroke PLC sensor data to improve the accuracy of guidance control; proposing and adopting multi-sensor fusion acquisition technology and methods. Intelligent collaborative measurement involves the fusion of multiple sensors to guide positioning accuracy and error propagation theory. We have developed proprietary intellectual property systems for automatic guidance in box culvert jacking replacement pipe curtain pushing process, subway tunnel shield machine automatic guidance, and ultra-long non-excavation top pipe automatic guidance, among others. The project has obtained three authorized invention patents, applied for three more, and published 20 related papers in core domestic and international journals. The project was accepted by the Shanghai Municipal Science and Technology Commission in January 2013, and was evaluated impartially by seven experts led by Academician Ye Keming of the Chinese Academy of Engineering: The research results reached the international advanced level. Currently, the project's achievements have been successfully applied in Shanghai Jinshan three-dimensional traffic box culvert project, Shantou 2080m ultra-long non-excavation top pipe project under the sea, Danyang ultra-long water intake top pipe project, Hangzhou subway project, Suzhou subway project, Shanghai subway project, In major projects such as the Shanghai Qingcaosha Water Supply Project and the Fuzhou Electric Power Curve-top Pipe, integrated applications of multi-mode construction automatic guidance control have been realized, achieving significant social and economic benefits.