The invention discloses a dynamic pose measuring method of an AGV based on spatial multi-point constraint. The method comprises that (1) a transmitting station and spatial constraint points are arranged, the transmitting station is fixed to the AGV, and 3D coordinate information of a receiver is known; (2) coordinates of the spatial constraint points in a coordinate system of the transmitting system as well as in a global navigation coordinate system are obtained; and (3) a conversion relation between the coordinate system of the transmitting system and the global navigation coordinate systemis resolved from the coordinates of the spatial constraint points therein, a dynamic pose of the transmitting station in the global navigation coordinate system is resolved, and further the dynamic pose of the AGV is obtained. According to the method, the pose of the transmitting station is measured mainly via a rear meeting principle, the cost is reduced effectively, data tends not to lose, the measuring continuity is ensured, and a tedious calibration process among transmitting stations can be omitted.