Method for relative attitude and position measurement of moving target based on coordinates of reference points in single coordinate system

Aiming at estimating moving target's relative position and attitude parameters, this paper investigated an optical measurement method by using four non-collinear reference points. Based on the relationship between the coordinates of reference points in both target and measuring coordinate system, this work presents the solving formulas for relative position and attitude parameters. Then a closed-form method was proposed with only coordinates in one object coordinate system. Following that, the corresponding error model for measurement was built. This method relays little on the setting of reference points, and has no constraint on the model of camera. Experiment results show that, this method can meet the measurement requirements of moving target's relative attitude and position.