large-scale position and pose measurement in a low illumination environment,a method is proposed based on time-varying color fiducial markers.Firstly,LED lamps with programmable color are used to construct a multi-layer nested cooperative marker with time-varying color.Subsequently,the LEDs are detected,recognized,and positioned.The EPnP algorithm is utilized to obtain single-layer pose measurement results.Based on an information fusion method weighted by size confidence,the fusion of multi-layer marker pose measurement results is achieved.Experimental results indicate that:1) Under normal lighting conditions,the proposed method demonstrates excellent performance with time-varying color fiducial markers and a large effective measurement range;and 2) Under low illumination conditions,the accuracy of position and attitude measurement using time-varying color fiducial markers surpasses those achieved under normal lighting conditions.