High-precision pre-alignment of the magnet components is an important step in the construction and operation of the High Energy Photon Source (HEPS). In order to achieve 10μm pre-alignment accuracy of storage ring in transverse and vertical, four laser trackers were used for set up a four-station multilateration measurement system. A Rank-defect Free-network adjustment model was used to analysis the measurement accuracy of different arrangements of multilateration measurement system. By simulation, it shows when the four stations form a right-angled regular triangular pyramid the highest point measurement accuracy can be gotten. A multilateration measurement system formed by four laser tracker was built in the laboratory. Experiment results show that the absolute position measurement accuracy is within 7.1μm and the relative displacement measurement accuracy is better than 3μm in a 4 m × 1.2 m × 1.5 m volume, which can satisfy the real-time position feedback accuracy of the magnets in the process of ultra-high-precision pre-alignment. Then, a pre-alignment experiment for High Energy Photon Source based on this system was carried out, and finally the 10μm pre-alignment accuracy goal in transverse and vertical was achieved.