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This invention discloses a spatial pose measurement method for the hoisting and docking of large components, belonging to the field of spatial pose measurement technology. The method includes establishing a first coordinate system based on the space of the hoisting and docking site, a second coordinate system based on the position of the measurement assembly system, a third coordinate system based on the sensor position, and a fourth coordinate system based on the support rod position. The method obtains the transformation relationships between the first, second, third, and fourth coordinate systems, acquires the coordinates of the support rod relative to the measurement assembly system in the second coordinate system, and obtains the pitch angle of the measurement assembly system relative to the support rod. The acquired data is then transformed in each coordinate system to obtain the spatial position of the large component relative to the support rod. This invention combines real-time measurement of the position and attitude of the measuring fixture with the inner envelope structure characteristics of the hoisting equipment (large components typically use gantry cranes) to achieve collision risk assessment throughout the entire hoisting process, effectively controlling the risk of collision damage during hoisting.