A non-diffracting beam based probe was proposed, then the probe was integrated with a total station to form a combined measurement system for measuring space coordinates of hidden parts in a large-scale space. The constructs and principles of the optical probe for measuring spatial attitude and the combined measurement system were introduced, and the mapping relationships between the centre position of non-diffracting and the incident angle of laser was established. In the combined measurement system, the probe stylus was first set to touch the point of measurement, and the optical system of the probe was targeted by the total station or the laser tracker to measure the spatial coordinates of the probe. The laser beam to measure the distance was transformed into a non-diffracting beam through the axicon lens, and CCD images were produced. The center of the non-diffracting beam was mapped one to one to the incident direction of the laser, and the horizontal angle and the pitching angle of the probe were obtained via center fitting of the non-diffracting images. Finally, an inclinometer was used to measure the rolling angle of the probe, and the spatial coordinates of the measured point were obtained by combing all the measured attitude angles with the position coordinates and coordinate transformation. Experimental results indicate that the precisions of probe's attitude-measuring system and combing measurement system are 1 mrad and ±1 mm, respectively, which demonstrates that the combined system is more flexible and reliable and meets the measuring demands of space coordinates of hidden parts in large-scale spaces.