Abstract: In order to realize the rotary object pose measurement, single-station measurement based on photoelectric theodolite with flexible station placement, without station geographical restrictions, and the stereo matching image has a high application value. The measuring method and the principle of attitude angle were introduced. Taking full advantage of the knowledge of space-objects figuration, on the basis of the photoelectric theodolite single station space cosine attitude measurement method to obtain the target attitude parameters, through the further development and improvement, the requirements of this algorithm on image quality was reduced and the applicability of the algorithm was increased. Compared with other methods of measurement, the simulation experiments demonstrate that the pose measuring method is less than 0.5 accuracy, the measuring result is stable. It can satisfy the need of high accurate measurement of spatial 3D pose measurement of rotary object with very good practicability.