Abstract: One method for calibrating the transformation matrix of cubic prism coordinate system between stereo mapping camera and star sensor was adopted. Autocollimation on two cubic prisms was finished using 4 theodolites. After that, the cubic prism coordinate system was set up. And the detailed equations of rotation matrix were deduced too. The attitude between two cubic prisms was calibrated by azimuth transmission. Tests indicate that the calibration error of angle between two cubic prism coordinate system axes is less than 1.5″(1δ）. The error of final attitude calibration of the stereo mapping camera is less than 5″（1δ）.

Key words: Three-line array CCD camera, Stereo mapping, Attitude calibration, Cubic prism, Collimation measurement