Aiming at the requirement of precise attitude measurement in the fields of aerospace, automobile and ship, and robot application, a laser tracking attitude angle measurement method based on visual weighted accelerated orthogonal iteration ( WAOI) is studied. Firstly, the composition of system is described, the mathematical measurement model is established, and the main error sources of system are analyzed. Secondly, on the basis of orthogonal iteration (OI), the weight coefficient of reference point was set by the object square reprojection error, and a WAOI algorithm was proposed to integrate the redundant calculation in the iterative process by introducing constant coefficient matrix, and the performance of the algorithm was verified by experiment. Finally, an experimental platform is built, and a precision two-dimensional turntable is used to evaluate the accuracy of the attitude angle measurement based on WAOI. The results show that within the angle range of -20° ~ 20° and within the measurement range of 3~ 15 m, the azimuth accuracy can reach 0. 11° and the pitching accuracy can reach 0. 26°. Compared with the proportional orthogonal projection iterative change (POSIT), the accuracy of azimuth and pitch angle is improved by more than 75% . The WAOI algorithm proposed in this paper effectively improves the accuracy of laser tracking attitude measurement system.