In the process of acquiring point cloud data from non-cooperative target linear array lidar imaging, in-orbit verification test costs are high, the space environment is complex, and control is difficult. Based on the numerical simulation of 3D reconstruction of non-cooperative targets, a semi-physical simulation ground verification system is developed to simulate the acquisition process of spacecraft orbiting spacecraft. The KUKA six-axis robotic arm is equipped with a scaled-down satellite model to restore the motion state of the non-cooperative target, and the three-axis precision turntable is equipped with a linear scanning lidar to realize the data collection of the measurable parts of the non-cooperative target. The target scanning and data processing are completed through the integrated control system. This semi-physical ground verification system is used to carry out multi-view data acquisition experiments of non-cooperative targets with a scale ratio of 1∶10, conduct evaluation experiments by establishing resolution accuracy evaluation, fit evaluation, and error analysis criteria of actual motion and control motion. The experimental results show that the experimental system can effectively obtain the point cloud data of non-cooperative targets in the multi-view state, and the error between the target nutation motion angle calculated based on the point cloud data measurement and the target's true motion angle is within 4%. It can provide real technical data reference for future space on-orbit manipulation and 3D recon-struction technology.