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A quaternion solution to the pose determination problem for rendezvous and docking simulations

Author

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  • Mukundan, R.
  • Ramakrishnan, K.R.

Abstract

This paper presents the mathematical framework for the attitude and position estimation of an object from its image using three point correspondence information. A closed-form solution for the pose determination problem is derived by representing the relative attitude parameters using quaternions. The quaternion elements can be used to model the outputs 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 features in a vision system test facility. Simulation results showing the comparison between the actual and estimated pose parameters are included.

Suggested Citation

  • Mukundan, R. & Ramakrishnan, K.R., 1995. "A quaternion solution to the pose determination problem for rendezvous and docking simulations," Mathematics and Computers in Simulation (MATCOM), Elsevier, vol. 39(1), pages 143-153.
    • Handle: RePEc:eee:matcom:v:39:y:1995:i:1:p:143-153
    DOI: 10.1016/0378-4754(95)00028-V
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