Stereovision-Based Relative Motion Estimation Between Non-Cooperative Spacecraft

In order to improve the capability of acquiring relative motion information between non-cooperative spacecraft in close -proximity, the problem of relative state estimation is studied in this paper. Considering the characteristics of the binocular stereovision and the kinematic coupling in the relative motion between non- cooperative spacecraft, the dynamical and measurement models are established respectively at first. Then, An Interacting Multiple Model Unscented Kalman Filter(IMM-UKF) is proposed to estimate the relative motion under the case of strong nonlinear model and uncertainties caused by unknown noise. Finally, simulation results demonstrate the rapid convergence and robustness of the proposed method.