Abstract: In this paper, a unified representation of relative position and attitude based on dual quaternion is proposed for RVD spacecrafts, which is a breakthrough to the traditional patterns for treating position and orientation separately. First, the model of relative position and attitude of RVD spacecrafts is established by using binocular vision and dual quaternion. Different from the traditional methods such as Euler angles and quaternion, this model has a very simple and unified form. And then, the two step algorithm is proposed to solve the model. Simulation results show that this algorithm can satisfy the measurement requirement for the spacecrafts, and it has strong stability. So it is of great value to real time on orbit measurement of relative position and attitude for RVD spacecrafts.

Key words: Binocular vision, Relative position and attitude, RVD, Dual quaternion