Abstract: In order to overcome shortcomings,such as blind spots and high expense,in space coordinate measurement with a total station and laser tracker,a space coordinate measurement method was put forward based on theodolites and rangefinders.The distance of a few target dots along the laser beam were measured with a laser rangefinder,at the same time these target dots were observed with a theodolite so that the horizontal angle and zenith angle of each target point were obtained.In the following data processing,the public plane,determined by the rays consisting of each target point and the origin of the theodolite,was calculated with the least square method,then these rays were projected to the public plane to obtain the corresponding projection rays,and the coordinates of each target dot were calculated based on these projection rays and the distances between target dots.Finally,the expression of the space line indicating the laser beam was fitted.Known the equation of the space line,the coordinates of to-be-tested dots in the theodolite coordinate system can be calculated if only measuring the distance between the dot and laser rangefinder.This measurement gives access to multi-point dynamic non-contact space coordinate measurement,which is difficult for a total station and laser tracker to achieve.