In order to capture three-dimensional (3D) geometric information of scanned obj ect using a single two- dimensional (2D) laser radar,a 3D scanning measurement system based on the rotat ing 2D laser radar and its calibration method are proposed.The composition and the scanning measurement principle of the system are determined,and the mathematical model o f the system is established.Aiming at the fact that the current laser radar scanning measuremen t systems′ parameter calibration method is nonlinear,a linear system parameter calibration method ba sed on calibration part with specific structure is proposed.An experimental syst em was set up,and the calibration part and the measured part were made. Experimental results show that the maximum difference between the part parameter value measur ed by the rotating 2D laser radar measurement system and the corresponding value me asured by the three coordinate measuring machine is 6.84mm,which is within the 2D laser radar meas urement error of ±30mm,and can meet the requirements of actual measurement acc uracy fully.