Taking pose measurement of non-cooperative space vehicle as research background, a new pose measurement method using multiple cameras with non-overlapping or slightly overlapping views was proposed to solve the problem that monocular vision-based method can not complete the pose estimation in close and ultra-close range, because of the limitation of the imaging space and the field of view, a monocular camera can not observe all the visual features used for pose estimation. Firstly, multiple cameras were configured in non-overlapping form, and the rotations and translations between cameras were calibrated. Then different cameras photographed the different features on the target, the underlying information from different cameras were both redundant and complementary, which provided adequated visual and geometric features for pose measurement. Finally, all the features information from different cameras were fused according to the relationship between cameras to calculate the pose in closed form solution. The experiment results demonstrate its effectiveness and superiority of the method for pose estimation for large target in close and ultra-close range.