Orthogonal beam splitting imaging system has essential applications in dynamic pose measurement. Fast and effective matching of the feature points' coordinates of the target to be tested is the key to achieving dynamic measurement. Traditional coordinate matching methods have problems, such as slow speed and large dynamic error. Therefore, this study proposes multiple points' coordinate matching algorithm based on the cross-ratio invariability among feature points. According to the imaging feature of the orthogonal beam splitting imaging system, considering the cross-ratio invariabilities and sequence in projective transformation as constraints for coordinate matching, a collinear multi-point cooperative target was designed to complete the matching of image coordinates and object points. The possible overlap of coordinates during pose measurement was also discussed. The experimental results show that the coordinate matching time for per frame of the proposed method is only 3 ms. The error of the rotation matrix of the proposed method combined with optimal solution to the perspective-n-point problem method does not exceed 6°, furthermore, the error of the translation vector does not exceed 1.4%, which can be applied in rapid pose measurement.