中文摘要：

航天器间的相对位姿确定是航天器编队飞行、交会与对接、捕获与维护等重大航天任务的关键技术。基于图像信息的相对位姿确定是目前国内外研究的热点,是解决航天器相对位姿确定问题的有效方法。文中在航天器姿态动力学、机器视觉理论基础上,提出基于四元数和航天器姿轨信息的相对位姿确定算法。在定姿方面,该算法采用了四元数法,与传统的Hall算法相比,降低了雅可比矩阵的阶数,从而减小了计算量;另外,在基于四元数算法的最小二乘估计中,该算法充分利用了航天器姿轨信息作为初始值,减少了计算的迭代次数,提高了算法的效率。

英文摘要：

Aim. There already exists Hall algorithm for positioning and posing according to Ref. 3 by X. A. Quintana. We now propose a new algorithm that we believe is better than Hall＇s. In the full paper, we explain in some detail our algorithm; in this abstract, we just add some pertinent remarks to listing the two topics of explanation. The first topic is： quaternion based method for determining position and attitude. Its two subtopics are： the quaternion based description of the rotational transformation for three dimensional bodies （subtopic 1.1）, the camera model and the basic equation for machine vision for determining position and attitude （subtopic 1.2） and the quaternion based model for determining position and attitude by machine vision （subtopic 1.3）. In subtopic 1.3, the initial position values are calculated by eq. （16） in the full paper; eq. （16） is based on Taylor expansion and least squares method. The second topic is. the algorithm for relative positioning and posing based on quaternion and spacecraft orbit and attitude information. Finally we give an example of numerical simulation, whose results are given in Figs. 2 through 8 in the full paper. These results show preliminarily that our proposed algorithm is much faster than Hall＇ s.