关键词: 交会对接, 特征提取, Kalman滤波器, 3P算法

Abstract: Based on the on-ground simulation system of spacecraft rendezvous and docking，a related pose measurement algorithm is proposed to ensure the measurement precise.It is robust to feature extracting，and of greater calculating efficiency.Firstly，extract the features with adaptive threshold method，then by inverse searching，search the first frame in the global scope，while the following with Kalman filter predicting and estimating method.The method is useful to the efficiency and anti-disturbing ability. Using this information，calculate the related pose between the chasing spacecraft and the target with P3P algorithm，and transfer the result to the controlling system to send out correct instruction to accomplish the process.The measurement displays that the searching scope error precise is two pixels，the calculating precise is 0.001 m in length and 0.001° in andle，and the speed with Kalman filter is improved by 63.2%.

Key words: spacecraft rendezvous and docking, feature extracting, Kalman filter, P3P algorithm