Method for measuring relative poses of spacecraft combining depth map and point cloud

The invention provides a method for measuring relative poses of a spacecraft combining a depth map and a point cloud. According to the method for measuring relative poses of the spacecraft combining the depth map and the point cloud, the method aims at a target spacecraft with axisymmetric geometric characteristics, and uses the depth map obtained by a depth sensor to calculate the angular deviation of the sight direction of the adjacent frames, thereby overcoming the problems of calculation errors in the roll angles which may be caused by a large gap between frames. And the method calculatesthe relative pose value of 6 degrees of freedom, and improves the accuracy of pose measurement, by using the deviation and the pose measurement result of the previous frame to perform point cloud registration. 本发明提供一种融合深度图和点云的航天器相对位姿测量方法，本发明针对具有轴对称几何特性的目标航天器，利用深度传感器获得的深度图计算相邻帧的视线方向的角偏差，克服了因帧间差距较大而可能造成的滚转角计算错误等问题，并利用此偏差和上一帧的位姿测量结果进行点云配准，计算得到6自由度的相对位姿值，提高了位姿测量的精度。