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This study was focused on a subpixel-level edge detection method for linear CCD images. The method detected the edge position of the array ccd image via several steps of image smooth filtering, edge coarse orientation based on gradient operator, fitting region searching and edge precise orientation based on least square straight-line fitting. The image acquisition card (FPGA) received the CCD image data after receiving the control command sent by the image processing card (DSP), and was responsible for the smooth filtering and gradient value calculation, positioning the rough edge coordinate, and then passed the coordinate and the data around it to the image processing card for the next fitting interval searching and the fine edge positioning. Through the early processing of the image acquisition card, the amount of communication data between it and the image processing card could be greatly reduced. This division of processing mode between FPGA and DSP took the advantages of their respective processing chips and greatly improved the processing efficiency. The experimental results proved the edge detecting precision had achieved sub-pixel level, 3σ was less than 0.5 pixel, the processing time was less than 90μs.