A new method of relative position and attitude determination for non-cooperative target

To solve the problem that the slave spacecraft can't autonomously determine the relative position and attitude without master spacecraft's dynamic information from non-cooperative target, a relative state determination method which adopts gyros, a stereo vision system and accelerators is put forward. Firstly, relative attitude equation, target's dynamics equation and relative position equation are given. And then, based on the state equation composed of above equations and measurement equation of the stereo vision system, the Kalman filter is designed. According to the output of slave spacecraft's accelerators, stereo vision system and gyros, the slave can determine the relative position and attitude autonomously only with target's appearance and static parameters. Finally, the numerical simulation results show that compared to the relative state determination system with target's gyro information, the designed method can determine the relative state autonomously and reaches 0.05 m and 2 degree of steady state error of position and attitude respectively.