Multi-beam laser coordinate measuring system

A laser tracking system for determining pose information of a rigid object is disclosed. The laser tracking system includes three or more retroreflectors, three or more sets of multiple laser trackers, and an electronic controller. Each retroreflector is secured to the rigid object that is moveable within a frame of reference. For each set of laser trackers, each laser tracker is configured to direct a laser beam to and receive a reflected laser beam from an associated one of the retroreflectors within the frame of reference. The electronic controller is in communication with each of the laser trackers and determines the pose information of the rigid object in the reference frame based on information about the fixed location of each laser tracker in the frame of reference and information about a distance of each retroreflector from each laser tracker of the set of laser trackers associated with the retroreflector.