The invention relates to an on-line monitoring method of the change of six freedom degrees between the lenses of an astronautical 
CCD camera with three 
linear arrays. A 
laser emitting and receiving device which comprises a 
laser source, an optical fibre coupler, a 
laser aligner, a semi-transparent semi-reflecting mirror and a first area array 
CCD camera is rigidly fixed on a 
camera lens A, and a laser reflecting and receiving device which comprises a 
plane mirror, a second area array 
CCD camera and a third area array CCD camera is rigidly fixed on the a 
camera lens B. The optical fibre coupler divides lasers emitted from the 
laser source into three paths, and then, the lasers are respectively aligned by the laser aligner and are output, wherein two paths of the lasers are respectively and directly projected on the two area array CCD cameras of the laser reflecting and receiving device, and the other path of the lasers are reflected on the 
single area array CCD camera of the laser emitting and receiving device. The change of three rotating freedom degrees and three translational freedom degrees between the lenses of the astronautical camera is solved through the change of 
facula positions on each area array CCD camera. In the invention, a non-contact measurement method is adopted, the structure of the astronautical camera can not be changed, the processes of installation and adjustment are convenient, the structure is compact, and the on-line 
operation mode can be achieved.