Aiming at the pose solution problem of non-cooperative target (tracked vehicles). This study proposes a pose estima-tion method based on non-iterative PnP, considering the large contact area between the track and the ground, which makes the pitch angle between the camera coordinate system and the object coordinate system basically consistent. This method uses the RANSAC algorithm to eliminate wild points, reduce the iterative error caused by the PnP algo-rithm, and eliminate the mismatched points when matching feature points. Finally, the pose equation is solved by using the local minimum value of the cost function. This method reduces the difficulty of tracked vehicle pose solution and improves the pose solution speed. This paper verifies the proposed algorithm through an optoelectronic recon-naissance unmanned platform. Experiments show that the algorithm can improve the calculation rate while main-taining accuracy in solving the tracked vehicle pose problem and realizes real-time pose solution of tracked vehicles.