Based on vision-based pose measurement during the trans-shipment of large optical modules, a non-public field of view(FOV) pose detection method for multi-cameras based on distance and angle constraints is proposed in this study. The method is developed by using two circular edges of the same plane at the bottom of the target of the installation module to eliminate the environmental constraints of close-range docking of large objects. While docking, the sphere of the transfer vehicle was correctly docked with the target cone hole. The two cameras were fixed in the hole of the sphere, and the circular features of the edge of the cone hole were collected. The position relationship between two cameras was obtained by multi-camera calibration in non-public FOV study on non-cooperative circle characteristic pose measurement using multiple cameras without public FOV imaging and the position and altitude information of multiple cameras were confluent. Finally, the false solutions in the pose calculation were eliminated using the constraints of two coplanar circles and two cameras' position relations. The experimental results show that the method can accurately calculate the pose. The calculation process is concise, and the results are reliable and effective. The error of the attitude angle of the circular edge feature is less than 0.5 degrees, and the calculation error of the center of the circle is less than 1.0 mm at a working distance of 1140 mm. The proposed method has practical applications in measuring the position and altitude of large targets within close range.