The invention discloses a 
monocular visual error measurement 
system for a cooperative target and an 
error limit quantification method. The 
monocular visual error measurement 
system is specifically characterized in that 
visual marker points are formed in the outer surface of the cooperative target, a calibration target adopts a black and white 
checkerboard like pattern and is used for the intrinsic and extrinsic parameter calibration of a camera, the camera is used for acquiring the images of the 
visual marker points and the images of the calibration target in one frame and transmitting the images to the computer, a first 
theodolite and a second 
theodolite are used for observing the calibration target to obtain an observation value A, observing the visual markers to obtain an observation value B and transmitting the observation value A and the observation value B to a computer, and the computer is used for receiving the calibration target image and marker image acquired by the camera, the observation value A and the observation value B, computing the camera 
pose measurement value and the real 
pose value of the cooperative target relative to the camera and computing a measurement error. By adopting the 
error limit quantification method, the measurement error can be quantified and decomposed so that each key parameter index is in the 
error limit.