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Aiming at the existing problems of high configuration cost, complex image processing algorithm and poor environmental adaptability of the electric vehicle charging port visual positioning system, a charging port position and orientation measurement system based on ultrasonic ranging is proposed. Firstly, the measurement technology of the charging port pose and orientation based on ultrasound is studied, and then the reconstruction of the ultrasonic port pose and orientation of the charging port is analyzed. The key technology of multi-point ultrasonic fusion is adopted to finally realize the Measurement of charging port pose and orientation of the electric vehicle. The results show that the ranging module can measure ±0.2959mm in the range of 300~1200mm, the positioning accuracy of the attitude measuring system can reach ±1.5mm, ±2.4°.In practice, the system performs strong robustness, achieving the level of traditional visual positioning system and meeting the engineering needs of pose and orientation detection of the charging port of electric vehicles.