In this paper, demonstrated is a super-resolution polarization-modulated 3D imaging framework based on electron multiplying charge coupled device (EMCCD). Due to its low bandwidth characteristics, the electro-optic modulatoris applied as a fast shutter with sub-nanosecond-level to implement temporal and range resolution of 3D imaging system simultaneously. The depth information can be reconstructed from the gray image with only a frame of raw data, so as to achieve dynamic imaging performance. Based on the system structure, a method of multi-dimensional data fusion is proposed to calculate target position and attitude. The feasibility of the method is verified by experiments. Experimental results show thatfor the target 1km away from the lidar system, the displacement measurement accuracy is less than 3cm and the pose angle error is less than 3°.