If you have two objects which are charged and their surroundings are all at the same voltage, than you might consider the surroundings as "ground potential." To ascertain the charge on one of the objects, you can contact it and drain the charge into the summing node of what's known as a charge amplifier. The charge amplifier resembles an op-amp based integrator in that it feeds back to it's inverting input through a capacitor.
When not using the charge amplifier, a reed relay can serve to short across the capacitor, thus resetting the amplifier.
Likewise, a reed relay can join your charged object to the inverting node of the op-amp giving you a voltage output that's
V=-Q/C
After a time, the reading tends to drift depending on the construction, cleanliness of the circuit (oh how I miss CCl4...), and input bias current of the op-amp. Anyway, if you built two charge amplifiers and get them fairly closely matched, you can measure the difference between the charges.
P.S. The circuit may drift quickly, so I recommend a data acquisition device to capture the values quickly. Also, glass capacitors are the best for this app though you may have to live with them not being matched. In that case, correct for gain in the math. Did I mention it needs to be really clean?
- Best Luck
Mike