In order to ensure that the communication antenna can point to the orbital spacecraft accurately during the rotation process, the dynamic measurement test of the communication antenna pointing accuracy needs to be carried out during the development process, which to measure the pointing information of the communication antenna in the rover coordinate system in real time. Because of its advantages of high measurement accuracy, efficiency, non-contact, large measurement range, and the ability to measure a large number of points at the same time, multi-view stereo vision measurement is applied to the dynamic test task of communication antenna pointing accuracy. To avoid the effects of the traditional self-calibration model on the 3D measurement accuracy, a novel close-range photogrammetry without traditional self-calibration measurement model is proposed. In order to determine the relative orientation relationship between the communication antenna coordinate system and the rover coordinate system, it is necessary to paste a large number of visual feature points on the communication antenna and the rover, and calibrate the three-dimensional coordinates in their respective coordinate systems. The calibration process is described in detail. It has been verified that the measurement accuracy of the system for the communication antenna pointing is better than 0.02°, and the measurement frequency is faster than 12 Hz, which effectively guarantees the ground test task of the lunar and Mars rover.