The technology of the measurement of relative position and pose between two spacecrafts based on laser lidar is one of the key technologies in many space applications, such as on-orbit servicing to satellites of losing control, debris removal, etc. Firstly, the current research at home and abroad was described. Secondly, the measurement technology principle of relative position and pose was introduced and the point cloud registration method was highlighted. Finally, the simulation experiment of the spacecraft simulator was given. The result shows that measurement of relative position and pose between two spacecrafts based on laser lidar method is reasonable and feasible and it has high accuracy. It meets the relative navigation mission requirements and provides a greater reference for the implementation of engineering applications.