中文摘要：

文章首先利用双焦成像算法确定航天器间的相对位置,再利用相对位置确定两个航天器间的相对姿态,最终获取相对位姿参数的解析解。在给定相机两个独立焦距条件下,对双焦深度估计误差进行分析,指出影响其精度的因素,并对相对位姿参数估计精度进行了讨论。最后,对该算法进行数学仿真,仿真结果表明该算法能够满足航天器相对位姿确定精度和实时计算要求。

英文摘要：

Firstly, the relative position parameters were computed by using the bifocal imaging algorithm. Then, the relative attitude parameter were calculated by the position parameters which has been obtained. At last, the analytical solution of relative position and attitude parameters was achieved. Under the condition of two different sets of locals, the bifocal depth estimation error was analyzed, the influence factors of precision were pointed out, and the estimation precision of relative position and attitude parameters was discussed. The solution has been validated by using mathematical simulation, and simulation results show that the solution can satisfy the accuracy of relative parameters between spacecrafts and the real-time computation.