A QUATERNION SOLUTION TO THE POSE DETERMINATION PROBLEM FOR RENDEZVOUS AND DOCKING SIMULATIONS

This paper presents the mathematical framework for the attitude and po sition estimation of an object from its image using three point corres pondence information. A closed-form solution for the pose determinatio n problem is derived by representing the relative attitude parameters using quaternions. The quaternion elements can be used to model the ou tputs of a vision sensor in attitude control simulations for the final approach phase of a rendezvous and docking mission. The algorithm has been validated with real images of a scaled model of the target featu res in a vision system test facility. Simulation results showing the c omparison between the actual and estimated pose parameters are include d.