It is difficult to calculate the content of a large storage yard by volume and density, which causes low precision and long period of data acquisition and disunity among measurement and calculation. A integration technology to achieve the 3D coordinate data by applying high-speed laser scanner, distance sensor, angle sensor and pitch sensor is proposed. Then a unified algorithm of 3D coordinates is deduced and 3D coordinate system of yard space is established to calculate the volume of material storage accurately. The system architecture, components, data processing methods and issues to be considered are also proposed, which can solve the measurement problem in a large material storage and improve the efficiency, accuracy and safety. In the experimental conditions, the absolute accuracy is less than 0.4%. Several projects show the simplicity, efficiency and accuracy of the proposed method. Measuring time less than 20 min for normal yard about 200 m once and the repeated error is less than 0.7%, which has good prospects and application worthy.