| Citation: | ZHI Shuai, DING Guo-peng, HAN Shi-hao, ZHANG Yong-he, ZHU Zhen-cai. Monocular camera-based relative position and orientation estimation system for space targets[J]. Chinese Optics, 2025, 18(5): 1111-1123. doi: 10.37188/CO.2025-0057
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To enhance the stability and accuracy of estimation systems for ultra-close high-precision docking of spacecrafts, this article proposes a system for high-precision estimation of relative position and orientation between two satellites. Through vision cameras on the chaser satellite and co-designed LED targets on the target satellite, precise relative pose measurement is achieved within 0.4−50 meters. To ensure clear imaging within the effective range, both far-field and near-field LED targets were designed. A multi-scale centroid extraction algorithm was proposed based on target characteristics, while slope consistency constraints and spacing ratio screening were employed to guarantee target feature acquisition under complex illumination conditions. Pose estimation utilizes target geometric constraints as initial values, employing iterative nonlinear optimization to refine results and effectively reduce measurement errors. Test results demonstrate progressively improving measurement accuracy from far to near distances. At 0.4 meters, position estimation achieves sub-millimeter precision while orientation estimation maintains sub-degree accuracy, meeting ultra-close-range docking requirements. This solution provides high-precision, high-stability technical support for relative position and orientation estimation between on-orbit space targets, demonstrating significant engineering application value.
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