On moving platform with little space, theodolite is apt to lose laser cooperation object and appear laser diffuse reflection phenomenon leading laser measurement distance information invalid, which is because of the short intercept and fast tracking angular velocity in the target approach segment (from the flying targets <200 m). In order to solve the problem that non-laser ranging can not use the original method to measure trace, a method of precise measurement by single theodolite on moving platform without laser ranging is presented based on the principle of spatial geometry and collinear condition, the combination of theodolite accurately calibration, midline video, theodolite video and motion attitudes of moving platform. Test result shows that the method has the advantage of simple calibration, high positioning accuracy and reliability, etc., and the actual measurement accuracy under dynamic conditions is better than 0.3 m in the flight direction, 2.5 cm in elevation direction and 5 cm in yaw direction obtained from midline video, meeting the test requirements.