The present invention is suitable for the technical field of measurement, and provides a linear encoding spatial position measurement method. The method comprises the following steps of: measurement of a first position: locating a centripetal mechanism at a measured point, and performing measurement at the first position by employing at least one measurement frame; measurement of a second position: performing measurement at the second position by employing the at least one measurement frame; establishment of a planar model; establishment of a space model; and calculation of the spatial position of the measured point. The centripetal mechanism is located at the measured point, the at least one measurement frame is employed to perform measurement of the two positions, the planar model and the stereoscopic space model of the centripetal mechanism and the at least one measurement frame at two positions are established, the spatial position of the measured point is calculated through mathematical transformation, and therefore, the usage is convenient, it is not needed that the at least one measurement frame at the two positions are parallel, the precision demand of the measurement device is low to facilitate storage of the measurement device, and the spatial position of the measured point can be accurately measured.