The application scope of traditional spatial cooperative target vision measurement technology is limited by the installation status of the cooperative markers. Taking the edge contour as the cooperative feature, the 3D structural model is used to construct the cooperative relationship and a spatial cooperative target pose vision measurement method with wider application range is proposed. The method generates 2D target feature templates with different observation orientations, which are used to perform searching and matching with the measurement image. The contour orientation features are used to evaluate the matching degree, and the target pose parameters are solved from the optimal matching results. The offline preprocessing strategy and twostage image pyramid search optimization method are used to accelerate the processing. The digital simulation test and semiphysical simulation test were conducted to verify the accuracy and stability of the method. The absolute error of position measurement in vertical optical axis direction is better than 2 mm, and the relative error of position measurement in parallel optical axis direction is better than 07%. The absolute error of attitude measurement is better than 02° and the single pose measurement takes less than 05 s. The proposed method can meet the requirement of spatial target navigation.