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• Use moving control point to determine the position and orientation. • Design a collaborative measurement system of Robotic Total Station and UAV. • Develop an algorithm to get optimation estimation of undetermined parameters. • Accuracy of coordinate and azimuth can reach mm and seconds within minutes. • The method can be applied in many situations with poor observation conditions. We have developed a system to determine the position and orientation fast and precisely, by the collaboration measurement of an Unmanned Aerial Vehicle (UAV) and two Robotic Total Stations (RTSs). One RTS is set on the control point, and another is set on the undetermined point. All devices are connected to the control terminal through a wireless network, so that the two RTSs can perform synchronous tracking measurements towards the same 360° prism mounted on the UAV. With an algorithm developed based on the theory of Massive Moving Control Points for Free-stationing (MMCPF), high-accuracy position and orientation can be determined in a one-stop mode within several minutes. Results of the simulation experiment and the field experiment validated the feasibility of our system, showing a positioning accuracy of millimetre level and orientation accuracy of angular-second level. The newly proposed methodology can be applied for limited direct sight conditions and poor GNSS observation environments, especially for under-construction civil engineerings, such as high-rise buildings, dams, railways, and bridges. [ABSTRACT FROM AUTHOR]