Aiming at the problem that the cooperative target is difficult to be clearly recognized by the camera in the large visual range rendezvous and docking of small satellites based on vision sensors, this paper designs a new integrated cooperative target, which can achieve high precision to resolve the relative poses of the binary stars from far to near in the measurement range of 100 m to 100 mm. Firstly, a cooperative target model is established to determine the type of cooperative target. Secondly, the PnP (Perspective-n-Point) algorithm is used to design the number and size of the cooperative target's feature points. Then, according to the constraint relationship between the camera's field of view, focal length and the cooperative target, the size of the cooperative target model is determined. Finally, it is verified by a combination of theory and experiment. The simulation experiment results show that the attitude error is less than 4.01°, and the position error is less than 7.57 mm when the object distance is 100 m. When the object distance is 100 mm, the attitude error is less than 0.06°, and the position error is less than 0.02 mm.