Non-cooperative target pose estimate of spacecraft based on vectors

In order to realize the non-cooperative target relative pose estimation of spacecraft under the ultra-close distance, this paper presents a pose estimation method based on spatial circle reconstruction and the edge eigenvectors of spacecraft ontology by using binocular vision. The method mainly consists of three parts, Firstly; the spatial circle image in binocular vision camera is positioned by feature circle extraction algorithm. Based on this, the circle normal vector on the spacecraft is obtained by using spatial circle reconstruction algorithm, and its reconstruction error is analyzed. Then the linear features on the space ontology are extracted by using the clustering linear iterative fitting algorithm, and the intersection and eigenvectors are solved. Finally, the pose parameters of spacecraft are estimated by using the two normal vectors using the intersection vectors algorithm. Experimental results show that the algorithm proposed in this paper can effectively estimate the pose parameters of spacecraft; its position measurement accuracy is up to 20mm when the measuring distance is 10m, and the attitude measurement accuracy can reach 2°, which satisfies the precision requirement of space task to estimate the pose.