It is significant to construct deterministic measurement matrices with easy hardware implementation, good sensing performance and good cryptographic property for practical compressed sensing (CS) applications. In this paper, a deterministic construction method of bipolar chaotic measurement matrices is presented based on binary sequence family (BSF) and Chebyshev chaotic sequence. The column vectors of these matrices are the sequences of BSF, where 1 is substituted with-1 and 0 is with 1. The proposed matrices, which exploit the pseudo-randomness of Chebyshev sequence, are sensitive to the initial state. The performance of proposed matrices is analyzed from the perspective of coherence. Theoretical analysis and simulation experiments show that the proposed matrices have limited influence on the recovery accuracy in different initial states and they outperform their Gaussian and Bernoulli counterparts in recovery accuracy. The proposed matrices can make the hardware implement easy by means of linear feedback shift register (LFSR) structures and numeric converter, which is conducive to practical CS.