With the rapid development of Trenchless Technology, Horizontal Directional Drilling (abbr. HDD) , the main method in Trenchless Technology, has become widely used for urban underground installation of new pipelines with its unique technical advantages. Supported by 863 - National High Technology Research and Development Program of China and Hunan Provincial Natural Science Foundation, the emphasis of this dissertation is put on the research of HDD bore planning and controlling methods on purpose to design ...