Abstract: Long-range autonomous capture and close-range high-precision autonomous relative navigation are key issues in small celestial body exploration tasks，and the smaller the target size，the more prominent the problem is.Firstly，to deal with the difficulty in identifying dim targets in the starry sky background within a long distance range from tens of thousands to thousands of kilometers，a fully autonomous capture and recognition method that comprehensively utilizes kinematics and brightness is proposed，which can achieve fast and accurate capture of large range changes，and has the ability to capture Mv10 dim targets in the starry sky at a distance of 30000 kilometers.Secondly，to cope with the problem of insufficient observability in line-of-sight measurement in the range of thousands to tens of kilometers during rendezvous，a relative navigation method based on integrated design of line-of-sight and trajectory maneuvering is proposed，which effectively improves trajectory observability while considering fuel consumption，and achieves relative position navigation with an accuracy superior to 5% in the rendezvous segment.Finally，to address the relative navigation problem near irregular small celestial bodies in close range，an optical navigation method based on the combination of image landmarks and point cloud features is proposed，which can simultaneously adapt to the detection needs of sunny and shaded areas.Combined with the weak gravitational force field measuring method based on multi-source data fusion，the accuracy of close-range relative navigation is further improved.The relative position accuracy at close-range is better than 1m，while the relative velocity is better than 1cm/s.The proposed method was validated through mathematical and physical simulations.The method proposed in this article effectively solves the high-precision navigation problem in small celestial body exploration，and can be applied to small celestial body landing detection tasks with diameters of tens of meters and rapid alternation of light and shadow areas.

Key words: small celestial bodies′ exploration, approaching and attaching, autonomous capturing of asteroids, relative navigation, image navigation