中文摘要：

空间目标的相对位姿测量，是进行交会对接、绕飞监测、编队飞行等的前提。提出了基于立体视觉的方法，包括图像滤波、分割、连通区域标记、3D重建、相对位姿计算等步骤。并建立了仿真系统，该系统基于VC环境，将追踪星、目标星的3D几何模型、姿态动力学模型、相对轨道动力学模型、控制器／执行机构的数学模型，以及立体相机的成像与采集模型集成一体，可进行全闭环的仿真。仿真结果验证了算法的有效性。

英文摘要：

The measurement of relative pose （position and attitude） between spacecrafts is the key step for autonomous rendezvous and docking, flying around, formation flying and so on. In this paper, we proposed a stereo vision-based method, including image filtering, image segmentation, connected component labeling, 3D reconstruction and the calculating of relative pose. Moreover, we created a simulation system which was developed in VC environment and melts the 3D geometry models, dynamic model （attitude dynamic and relative orbital dynamic） , the controller and actuator model, and the camera photograph model into a whole. Using the system, the closed loop simulations were conducted. The simulation results verify the algorithms above.