Urban infrastructure is one of the most important fields in different countries and the developing of a city largely depends on the proper infrastructure management. Therefore, a proper way of monitoring, controlling, planning and managing these infrastructures is essential. In this issue, finding the accurate positions of facilities such as pipes is a difficult problems due to the non-visibility of these infrastructures. Ubiquitous computing and new developments in geospatial information systems (GIS) can be a solution to such problems. This paper aims to describe the role of Ubiquitous GIS in underground infrastructure management and review modern GIS technologies and Ubiquitous computing in urban infrastructure. In this paper a variety of technologies in the field of urban infrastructure using ubiquitous computing is explained in three categories including infrastructures, sensors and services. Compared with the existing technologies in position estimation of underground utilities, it can be concluded that the exploiting of RFID technology is better than previous methods in this field. Also, this study reviles that in such applications and field inspection augmented reality methods are more suitable than Mobile GIS methods.