›› 2012, Vol. 32 ›› Issue (4): 37-44.doi: 10.3780/j.issn.1000-758X.2012.04.006

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Relative Position and Attitude Determination Between Spacecrafts Based on Bifocal Monocular Vision

Feng Chun1,Wu Hongtao1,Qiao Bing2,Chen Bai1   

  1. (1 School of Mechanical Electronical, Nanjing University of Aeronautics and Astronautics, Nanjing 210016)(2 School of Astronautics, Nanjing University of Aeronautics and Astronautics, Nanjing 210016)
  • Received:2011-10-31 Revised:2012-01-13 Online:2012-08-25 Published:2012-08-25

Abstract:  Firstly, the relative position parameters were computed by using the bifocal imaging algorithm. Then, the relative attitude parameters were calculated by the position parameters which have been obtained. At last, the analytical solution of relative position and attitude parameters was achieved. Under the condition of two different sets of focals, the bifocal depth estimation error was analyzed, the influence factors of precision were pointed out, and the estimation precision of relative position and attitude parameters was discussed. The solution has been validated by using mathematical simulation, and simulation results show that the solution can satisfy the accuracy of relative parameters between spacecrafts and the realtime computation.

Key words: Quaternion, Depth estimation, Bifocal imaging, Monocular vision, Attitude control, Relative position, Spacecraft