Large-scale precision pose measurement technology plays a critical role in the automation and high-precision assembly of advanced equipment， including aircraft， spacecraft， ships， and radio telescopes. This paper addresses the limitations of traditional methods that frequently overlook the simultaneous optimization of measurement efficiency and accuracy. A novel multi-target pose measurement technique， which utilizes parallel distance and angle measurements， is proposed. This approach employs rotary-laser scanning for the autonomous identification of multiple targets while providing high-precision angular constraints. A high-dynamic steering mirror aligns the absolute ranging beam with cooperative targets， thereby facilitating point-by-point scanning for parallel measurements. Additionally， a cooperative target is designed， integrating photoelectronic receivers and retroreflectors， and a precise pose measurement model is formulated that fuses distance and angle data through weighted considerations. Furthermore， a high-precision calibration method for system parameters is introduced， and a detailed analysis of measurement uncertainty is presented. The relationship between target position and orientation relative to the base station and pose measurement accuracy is thoroughly examined. Experimental validation confirms the method's feasibility and accuracy， achieving position and attitude measurement precision of better than 0.131 mm and 0.041°， respectively， with repeatability better than 0.034 mm and 0.018°. The average measurement time for each target in the multi-target assessment is 0.9 s. This method effectively combines high efficiency with measurement accuracy in multi-target pose evaluation.