A single-station real-time multi-target 3D coordinate measurement system is proposed to address the challenges in traditional multi-base station positioning systems that rely on multi-source observation intersection mechanisms. Such systems are often hindered by occlusions in complex environments and face difficulties in station layout adjustments. Achieving single-station real-time multi-target 3D sensing and measurement requires a measurement module with parallel range angle sensing capability to decouple the strong correlation between range and angle measurements, thus meeting the demands of real-time automatic multi-target measurement. This paper presents a novel method combining ultra-wideband ranging and rotational laser scanning for angle measurement. A comprehensive calibration model and measurement model for the range angle fusion system are established, and cooperative targets are designed with an analysis of the effect of target decentering errors. Additionally, a compensation method for systematic errors in the UWB ranging system is studied. Finally, a prototype system is developed for feasibility verification. Experimental results demonstrate that the proposed single-station measurement system achieves an average point error of less than 30 mm, representing nearly a 70% reduction in error compared to traditional UWB multi-target positioning.