To address the challenges of low robustness and accuracy in structured light 3D measurement systems caused by environmental interference and the geometric characteristics of measured objects， this study focuses on improving the system's projection encoding method， projection efficiency， and related algorithms. First， to enhance system robustness， a novel approach combining complementary Gray code and phase-shifting is proposed. Second， to reduce the extended projection time resulting from multiple patterns， a synthetic pattern parallel loading method is introduced， significantly accelerating projection speed. Third， to mitigate issues such as light occlusion and shadows caused by object geometry， a dual-projector single-camera system is designed， expanding the measurement field of view and effectively eliminating shadows. Finally， a comprehensive performance comparison with existing methods， including complementary Gray code with phase-shifting and the multi-frequency heterodyne method， is conducted to validate the proposed approach. Experimental results demonstrate that the proposed method substantially improves system robustness and overall performance. Specifically， the synthetic pattern parallel loading method enhances projection efficiency by 55.51% compared to the baseline approach， achieving a measurement standard deviation of 0.014 mm. The proposed method significantly enhances system robustness and accuracy， surpassing traditional encoding techniques.