基于对偶四元数的航天器交会对接位姿视觉测量算法

根据光学测量基本原理建立双目视觉测量模型,提出基于双目视觉的航天器间相对位姿 的测量方法。利用对偶四元数，建立目标航天器的坐标系和追踪航天器上的摄像机坐标 系之间的关系，构造出航天器交会对接位姿误差模型，通过使用拉格朗日求极值的方法，解 算出航天器间的相对位置和姿态。仿真结果表明该算法有效，能够满足航天器交会对接的测 控要求。

Algorithm of Vision Measure for Relative Position and Pose of RVD Spacecrafts Based on Dual-quaternion

Medel of binocular vision was made aeeording to optics theory and measure methods about relation position and pose between spacecrafts were presented as well. In this paper, utilizing dual-quatemion relate reference flame on target space-crafts with reference frame tracing spacecrafts. Error model for relation position and pose of RVD spacecrafts were constructed by dual-quatemion. Relation position and pose between spacecrafts were resolved by means of lagrange method. Simulation shows that the method is effective, which meet the demand of measurement accuraey of the relative position and attitude for rendezvous and docking of spacecrafts.