A Single CCD Algorithm to Determine the Position and Attitude during Rolling Phase of Rendezvous and Docking

Abstract

Propose a new algorithm that use Euler angles to calculate directly large relative position and attitude of rendezvous and docking. By analyzing the feasibility of using Euler angles to solve instead of using quaternion and deriving the relations between the coordinates of the identification-points and the coordinates of point-images, a group of non-linear equations including relative position and attitude is established. It is proved that three non-collinear points are sufficient and required to determine the position and attitude uniquely. The whole deriving process does not mention any assumption and simplification in theory. Simulations indicate that the algorithm is high-accurate, unique-solution and wide application scope.