To solve the measurement and recognition contradiction between macro-scale and micro-feature of trans-scale miniature parts in precision assembly, a high-precision pose measurement system based on orthogonal binocular vision and inclinometer combination was proposed. The system built the coordinate transformation relationship among imaging unit, auxiliary measurement unit of inclinometer, and clamping unit of parts. An analytical algorithm for high-precision measurement of pose measurement of miniature parts based on the coordination transformation and angle measured by inclinometer was introduced. In experiment, fiber array and jumper were the research object, afterwards spatial pose constantly measurement and automatic assembly experimental platform was built. The results show that position and attitude deviation measured by the combined measurement system are less than (±2μm,±2μm,±3μm) and (±0.005°,±0.004°,±0.005°), respectively, in the field of 3mm×2mm×2mm. Compared with the traditional measurement methods, the system improves the measurement accuracy of the miniature parts significantly. This method can further satisfy the requirements of pose precision measurement and automatic assembly of miniature parts.