The traditional error analysis of monocular vision pose measurement only considers a single error factor, which causing the problem that there is a large difference from the actual project. An error analysis method considering multiple error factors was proposed. Firstly, a pose estimation model for monocular vision was established based on the measurement range and camera parameter. Secondly, the camera internal error, lens distortion error, image points detection error and target error were introduced into the measurement model simultaneously based on actual error levels. Finally, the influence of suppressing parameter errors, improving camera resolution on the pose measurement results were obtained, and the most effective precision optimization method was found. In addition,a monocular vision pose measurement system for small manipulator hand-eye location was adopted for experiment. The analysis results indicate that reducing the radial distortion error and improving the camera resolution can effectively improve both the position and attitude measurement accuracy of this system. The pose accuracy is increased by 6.57%, 4.21% and 5.88%, 5.54% ,respectively.