To solve the problem of high-precision two-dimensional attitude measurement for long-distance laser tracking cooperative targets, a small-range two-dimensional attitude measurement method based on the collimated laser is proposed in this article. Firstly, the optical characteristics of the angular prism and the principle of laser tracking based on the angular prism are described in detail. Secondly, a two-dimensional attitude measurement method using a cube-corner prism with incision and photodetector is proposed, and the mathematical relationship among laser beam vector, cube-corner prism with incision, photodetector, and the cooperative target is analyzed, the attitude solution model is established, and a cooperative target is designed. Finally, a high-precision attitude measurement system is established. Experimental data acquisition and parameter model calibration are carried out, and accuracy analysis and evaluation are implemented through verification experiments. The experimental results show that the proposed measuring device is ingenious and practical. The measuring angle error is less than 0. 011° in the working range of ±5°, which meets the demand of highprecision engineering applications.