Abstract: The technology of estimating position and pose of spacecraft based on laser lidar is a research hotspot of onorbit services. For the position and pose estimation of failure spacecraft, the technology of general graphbased optimization SLAM was applied to the research of noncooperative target in space. In order to solve the problem of accumulative error generated in the dynamic scene, an improved SLAM algorithm based on detection of prior submap according to the characteristics of failure spacecraft was proposed. In this algorithm, laser lidar and inertia measurement unit were used to sample the point cloud data of failure spacecraft as well as the environment and the movement information of service spacecraft, to construct a relative pose graph of service scenario. Then the method of detecting prior submap was used to generate the constraints of discontinuous poses. At last, the constraints information was used to optimize the result of pose graph. The simulation result shows that the method decreases the cumulative deviation and improves precision of relative position and pose estimation compared to general SLAM algorithm, providing information for onorbit tasks such as navigation and controlling.

Key words: control engineering, spacecraft position and pose, submap detecting, simultaneous localization and mapping, laser lidar, graph