A plane objects pose measurment algorithm based on monocular vision is proposed aiming at close-range pose measurement requirements in space rendezvous and docking. In order to facilitate the adjustment of the aerial mobile platform so as to satisfy the specific position relations, a new angle definition method is introduced, the three angles defined by which can be used as the feedback of the platform attitude adjustment and they are not restricted by the order of rotation. The three angles and position vectors of the plane model with respect to the camera coordinate system can be directly derived from the plane homography matrix. In the measurement experiment, the algorithm is implemented based on DSP platform, and the cooperative target is composed of 4 coplanar LED light sources, and the measuring datum is obtained by the high-precision inclination angle sensor and the total station instrument. Experimental results show that for the target surface measurement with spatial position change range at 2 m×2 m and the angle ranging from -30 degrees to 30 degrees, this algorithm can achieve 0.88% relative positioning error and maximum 0.996° angle measurement error, and the single-frame computing time is only 0.25 ms.