Research on the measurement in RVD based on dual quaternion

The measurement of the final approaching part in Rendezvous and Dock are all based on computer vision, the basic ideas are: In the close part utilizing the camera to catch the motion parameters and the traditional method is a process of solving the rotation matrix and the translation vector. In this method the imaging is the most important part. The shortcomings of this method are the decomposition of the integrity for the rigid motion. In this paper, the dual quaternion is used. It overcomes the shortcomings of the former method, the rotation and translation relationship between the two coordinates is considered on the same time. Finally, the simulation shows the method.