Abstract: In view of real-time high-precision spacecraft pose measurement is not only an important technical assurance of real-time monitoring and tracking of spacecraft, but also main basis for real-time adjustment and compensation of spacecraft attitude, this paper propose a monocular vision-based real-time pose measurement method, which utilizes a high precision rotating platform geometric camera to carry out pose solution to the measured object. This method does not need to geometrically constrain measured object, and does not need to carry on measurement of station, so it can carry on dynamic real-time on-line pose detection. Experimental results show that attitude measurement error of monocular vision measurement is less than 0.05° and position measurement error is less than 0.02 m, which satisfies accuracy requirements of practical engineering of 0.1 ° and 0.05 m.