With the development of space technology, more and more Rendezvous and Docking (RVD) mission require more precise measurement of relative position and attitude between tracking spacecraft and target spacecraft. In the procedure of docking between near spacecraft , the optical retroreflector on the target Spacecraft were tracked by the laser tracking and ranging device on the tracking spacecraft , the distance data were provided by laser ranging system, and the azimuth data were provided by tracking gimbal, Synthesized the distance data and azimuth data, the relative position information between two spacecraft were provided to the target spacecraft. Furthermore, through tracking more than three point on the target spacecraft ,the complete information of relative position and attitude between two spacecraft were calculated rapidly by the measurement system，which were presented to the control system during the whole RVD operating stage. The laser tracking technology guaranteed continuous measurement and supplied accurate azimuth information, and the laser ranging technology ensured high accuracy of distance information. In addition, the untouched measure mode give no disturbance to the docking operation, moreover, the monochromaticity of laser make the tracking and ranging procedure avoiding to be disturbed by parasitic light of space, thus there will be a effective measurement accompanying the whole docking operating procedure and affording valid data to the control system of docking.