How to measure the two-dimensional attitude angle of space target and achieve stable tracking and aiming has become an important problem.The self-collimation is often measured via one-dimensional motion of the object in space.This paper proposes a micro-angle measurement system based on self-collimation to obtain the two-dimensional angle information of moving objects in space,and a thrice reflecting optical path structure is built to im-prove the compactness of the system.First,by establishing a posture angle measurement and decomposition model,the two-dimensional deflection angle value of the reflecting mirror is derived from the rotation angle equation;Second,the self-collimating measurement process is simulated to show the relationship between the reflecting mirror rotation angle and the imaging spot distortion of detector;Third,a two-dimensional micro-angle experimental platform is es-tablished based on the Position Sensitive Detector(PSD).Finally,nonlinear error of PSD is improved by the cubic spline interpolation method.The case results show a 15%reduction in the angle error.