Method for relative pose parameters between spacecrafts based on mixing of multi-sensor

By using mixing of monocular vision and laser rangefinder, a closed-form method for relative pose parameters of spacecraft was proposed. Firstly, by using quaternion measurement algorithm, the closed-form method for relative parameters of spacecraft were obtained utilizing five feature optical points and monocular vision, and they were corrected. Secondly, the above 6D pose parameters and 1D distance that obtained by laser rangefinder were fused, so as to correct the 6D pose parameters further. Finally, the solution was validated by using mathematical simulation, and simulation results show that the algorithm guarantees the pose parameters estimation accuracy under the condition of large errors caused by camera calibration and feature optical points extraction and matching. The simulation results also illustrate that the solution can satisfy the demand for the accuracy of relative parameters between spacecrafts and the real-time computation.