In order to solve the problem of low precision and poor universality of the existing 6D sensors

a highprecision 6D sensor is designed based on visual principle. Factor which affect precision is analyzed

factors such as numbers

position and material of the target points are especially considered. Sensor structure of six-point infrared light target distributed in the space laser is designed. The double theodolites measurement network is used to calibrate the structure parameters of the 6D sensor in order to achieve high precision measurement. After the mathematic principle is given

solving methods for optimization based on Levenberg-Marquardt is designed and gain problem of the initial value based on Lagrangian multiplier is solved. The experimental data show that the root-mean-square errors of three rotation angles are 0. 017°

0. 013° and 0. 016°. The root-mean-square errors of three translation parameters are 0. 077 mm

0. 095 mm

0. 079 mm. The sensor has higher field application value.