A method of measuring the relative pose of satelliterocket separation based on vision was presented. For the camera parameters were known, the camera was installed on the carrier rocket, and more than six cooperation signs were fixed on the satellite. The cameras can take pictures of the cooperation signs in real time. Based on the basic principle of monocular vision pose estimation, the relative pose relationship between satellite and rocket was solved by combining efficient perspectivenpoint with orthogonal iteration. The simulation experiment and the semiphysical simulation experiment prove the feasibility and accuracy of the proposed method.