To overcome problems in current six Degree-of-freedom (DOF) measurement, such as poor portability, low precision and speed, the paper demonstrates a laser target measurement setup based on embedded system.Cooperating with a total station, laser target can achieve six-DOF measurement.A spot center positioning algorithm is proposed which suits for embedded system, and an attitude resolving algorithm based on non-modeled camera calibration.Tested by experimental results, the laser target angel measurement precision of pitch and roll is 0.005 degree, and azimuth angle measurement precision is 0.006 2 degree with a position measurement precision equaling to total station.The present system is able to be applied to wide measuring situations.