Autocollimators are mainly based on computers or the electronic devices that can be connected to the internet, and its precision, measurement range and resolution are all defective, and external displays are needed to display images in real time. What's more, there is no real-time calibration for autocollimator in the market. In this paper, we propose a biaxial autocollimator based on the ZYNQ embedded platform to solve the above problems. Firstly, the traditional optical system is improved and a light path is added for real-time calibration. Then, in order to improve measurement speed, the embedded platform based on ZYNQ that combines Linux operating system with autocollimator is designed. In this part, image acquisition, image processing, image display and the man-machine interaction interface based on Qt are achieved. Finally, the system realizes two-dimensional small angle measurement. Experimental results showed that the proposed method can improve the angle measurement accuracy. The standard deviation of the close distance (1.5m) is 0.15" in horizontal direction of image and 0.24"in vertical direction, the repeatability of measurement of the long distance (10m) is improved by 0.12 in horizontal direction of image and 0.3 in vertical direction.