With the increase of precision requirements for manufacturing, processing and assembly of large scale workpieces and equipment, high precision measurement system is needed to measure the machining and assembling process of workpiece. Multilateral laser tracking 3D coordinate measuring system measures the distance data to solve the space point coordinates which can avoid the error caused by the angle measurement of laser tracker. Based on non-target self-calibration model, a spherical center fitting-self-calibration method for multilateral laser tracking 3D coordinate measuring system was constructed in this paper. By mounting an fixture to the laser tracker and moving station, a four station laser tracking 3D coordinate measuring system can be constructed. In addition, a three station system was also constructed. The experimental results show that the error of distance between the two ends of the scale bar with nominal length 1000.943 mm measured by three-station system is reduced from 110 μm to 28 μm at the distance of 20 m, and the distance error between the two ends of the scale bar with nominal length of 969.045 mm measured by four-station system is reduced from 67 μm to 21 μm at the distance of 7.5 m. Compared with single-tracker measurement, the precision is improved, the number of station and the cost for the system are reduced compared with traditional multilateral measurement system. The system can realize high precision for 3D coordinate measurement in industrial field.