对航天器间相对位姿的光学测量问题进行了研究, 提出了一种新的单目视觉测量算法——相似迭代算法。该算法根据三角形相似原理提出了一种新的深度迭代机制, 并通过引入深度变量, 将求解2D-3D问题转化为迭代求解3D-3D问题。对数值仿真与两种现有的测量算法进行了比较。仿真结果表明, 该算法具有精度高、抗噪声能力强和实时性较好等优点, 可以应用于航天器间相对位姿测量等任务。

The optical measurement problem of the relative position and attitude between spacecrafts is investigated, and a novel monocular vision-based relative position and attitude measurement algorithm named as the Similar Iteration algorithm is presented. This algorithm mainly characterizes a new depth iterative mechanism from the principle of the triangular similitude, and thus the 2D-3D pose estimation problem is translated into iteratively solving the 3D-3D problem. Simulation results show that the Similar Iteration algorithm outtperforms two other existing algorithms in the accuracy, the resistance against image noise and exhibits good real-time performance. The proposed approach is applicable for measuring the relative position and attitude between spacecrafts.