Electric propulsion is an established high-efficiency method in deep space explorers. However, most of the applied methods feature electrodes in direct contact with the plasma, thus its lifetime is limited by the electrodes' erosion. We developed electrodeless electric propulsion systems in order to overcome this problem, and performed optical measurements to estimate the high-density helicon plasma performance of the systems. The electron and neutral particle density profiles were measured by a high-speed camera, and the velocity of the singly-charged Ar ions was determined by a high-resolution monochromator. Additionally, a preliminary experiment of a spectroscopic method using an intensity ratio based on a collisional radiative model with a CCD monochromator was performed. The plasma parameters were in good agreement with the results obtained by an electrostatic probe, and the non-invasive optical measurements presented here can constitute an effective tool for evaluating an electric propulsion system.