position and orientation system (POS) is one of the most important components in mobile mapping system, whose position and orientation accuracy attracts considerable attention. By using total station, laser tracker and GNSS timed device, this paper designed a compound dynamic accuracy testing system. The measurement method of dynamic position accuracy testing for POS is also focused, which utilizes the time statistics of single measurement and curve fitting to calculate the measurement error. After eliminating gross error from the raw observation data, the ICP (iterative closest point) algorithm is used for modifying the trajectory of totalstation system. As a result, the dynamic measurement can be enhanced by comparing the highaccuracy trajectory of laser tracking system and the totalstation system. Outdoor experiments are carried out to verify the proposed calibration method, in which the overall trajectory comparison and realtime comparison are applied for testing the dynamic position accuracy of POS. Experimental results indicate that the designed evaluation system can be used for testing both realtime and postprocessed dynamic position accuracy of POS.