基于相对视线矢量测量的多航天器编队相对姿态求解方法

航天器相对姿态求解是编队控制和保持的前提条件，针对远距离编队相对姿态求解问题，提出了一种基于相对视线矢量测量的多航天器编队相对姿态确定方案.考虑编队由3个航天器组成，每个航天器装备视觉传感器，可以测量到相对其余两个航天器的相对视线矢量，基于视觉传感器测量模型，推导了确定性姿态求解方法，并进行了数学仿真研究.仿真结果表明，多航天器编队相对姿态求解方法可以有效估计出航天器间的相对姿态，估计精度较高，能够满足航天器编队控制需求，解决了远距离编队情况下视觉传感器应用的局限性. 

Relative Attitude Solution for Multi-Spacecraft Formation Based on Relative Line-of-Sight Vector Measurement

The spacecraft relative attitude solution is a precondition of the formation control and maintain. To address the problem of relative attitude solution for long-distance formation, the relative attitude determination method based on relative line-of-sight measurement was presented for multi-spacecraft formation. Considering the formation was composed of three spacecrafts, and each spacecraft was assumed to be equipped with vision sensors to measure the relative line-of-sight to the other two spacecrafts. Deterministic attitude solution algorithm was deduced and a mathematical simulation was carried out based on the visual sensor measurement model. Simulation results show that relative attitude solution method for multi-spacecraft formation can be used to estimate relative attitude between the spacecraft effectively and obtains a high accuracy. In addition, the method can meet the demand for spacecraft formation control and solves the limitation of visual sensor application for long-distance formation.