Vision-based relative position and attitude determination using Rodrigues parameters

A Vision-based position and attitude determination algorithm is proposed using Rodrigues parameter to describe the attitude. Rodrigues parameters are simple and efficient in the attitude representation, which is suitable for Vision-based precise relative position and attitude determination, but it can not be used when angle is enough large, because it is singularity. So the algorithm is based on vision-based navigation theory and parameter switch theory of Rodrigues parameter that can avoid singular of attitude representation. The model is derived and the following of the relative position and attitude algorithm is given. Finally, the result of simulation proves that the algorithm successfully solved singularity problem and can determine relative position and attitude for all-attitude.