Abstract: In order to describe the relative position and attitude measurement information of RVD spacecraft, a combination method of binocular vision measurement and Plucker linear equation was proposed to determine the relative position and attitude parameters of RVD spacecraft. The relative position and attitude of spacecraft was separately measured and calculated in traditional algorithm, while, the Plucker linear equation jointly describes relative position and attitude information of the two spacecraft. At first, the binocular vision algorithm was used to calculate two non-coplanar lines′coordinate value in tracking spacecraft. Then, the two lines′relative position and attitude relation in two coordinates calculated by Plucker linear equation was obtained. Finally, the relative position and attitude information of the two spacecraft was calculated by the singular value decomposition method. Simulation results show that the algorithm can not only jointly measure position and attitude, but also meet the measurement requirements of RVD spacecraft and verify the scientific rationality and calculation efficiency of the algorithm.

Key words: Rendezvous and docking, Binocular vision measurement, Plucker linear, Singular value decomposition, Relative position and attitude, Spacecraft