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Fruit tree canopy volume is an important factor for precision management in fruit orchards such as pesticide variable spraying, precision fertilizing and yield estimation. In order to overcome the problems of uneven hilly environment and irregular planting on fruit tree canopy volume, a platform for measuring fruit tree canopy volume by laser was set up. Based on AHRS and DGPS sensors, 3-D data of laser scanned point of fruit tree canopy in geodetic coordinate system was deduced through spatial coordinates transforming. The area and line information of point cloud of fruit tree canopy were extracted by using slicing technology, and the canopy volume was calculated with an accumulation method. The test showed that the shape of fruit tree canopy could be represented by the canopy point cloud of litchi fruit tree in the geodetic coordinate system. Taking three artificial pruning cylindrical hedgerow trees as experimental object, the relative measuring errors between artificial measurement and laser measurement was about 5%.