Abstract: An estimation method based on stereo vision is proposed for the requirement of autonomous relative navigation to a non-cooperative target in on-orbit servicing mission. First, a dynamic model of Markley variables and a measurement model of stereo vision are built. Second,the relation between the motion of the feature points and the rotation of target is researched. Then the Cubature Kalman filter is used to estimate the spinning angular velocity and direction of the spinning axis. Finally,the validity of the proposed estimation algorithm is verified through numerical simulation.