Abstract: Accuratemeasurementoftherelativepositionandattitudebetweentheactivespacecraftandthetargetspacecraftisthekeytothesuccessfulcompletionofrendezvousanddocking(RVD)mission.Inthetraditionalvectormeasurementmethods,thepositionandattitudeareusuallytreatedseparately,whichledtothedifficultyofalgorithmdesignandcomputationalcomplexity. AnewbinocularvisionmeasurementalgorithmbasedonmotoralgebrawasproposedtouniformlydescribetherelativepositionandtheattitudeofthetwoRVDspacecraft.Thisnewalgorithmhasamoreconciseformandsomecomputationaladvantagescomparedtothetraditionalmethods.Therelativepositionandattitudedeterminationproblemwassimplifiedtosolvingtwolinearequations.SimulationresultsshowthatthealgorithmcanmeetthemeasurementaccuracyrequirementsofRVDmissions.

Key words: Motoralgebra, Rendezvousanddocking, Relativepositionandattitude, Binocularvision, Spacecraft