The approach and simulation study of the relative pose measurement between space-crafts based on stereo vision

The measurement of relative pose (position and attitude) between spacecrafts is the key step for autonomous rendezvous and docking, flying around, formation flying and so on. In this paper, we proposed a stereo vision-based method, including image filtering, image segmentation, connected component labeling, 3D reconstruction and the calculating of relative pose. Moreover, we created a simulation system which was developed in VC environment and melts the 3D geometry models, dynamic model (attitude dynamic and relative orbital dynamic), the controller and actuator model, and the camera photograph model into a whole. Using the system, the closed loop simulations were conducted. The simulation results verify the algorithms above.