A measuring system based on computer vision was developed to measure the movement parameters of a unmanned lunar explorer at a soft-landing test, such as the 3D pose, 3D velocity of explorer and the working strobe of snubber. Firstly, some opposite-vertical-angle marks were painted on the surface of the explorer, and their 3D coordinates were measured by a high-precision total station. Then, a series of images were taken by a high speed digital camera during the soft-landing test of explorer. Finally, the above parameters could be obtained by processing serial images of the explorer and 3D coordinates of the marks with the mono-vision method. The system is compact and easy to be operated. The theoretical analysis and experiments for the measurement precision of the system were performed. The results indicate that accuracies of pose angle, velocity and working strobe in measurements are 4′, 0.02 m/s and 4 mm, respectively,which can satisfy the requirements of movement parameter measurements in the soft-landing tests for unmanned lunar explorers.