Research on Pose Measurement and Modelling Technology of Malfunctioning Spacecraft Based on SLAM

In order to realize the on-orbit servicing of malfunctioning spacecraft and space debris removal, it is necessary to relative pose measurement and establish the fault model accurately. Aiming at the problem of pose measurement and modeling for non-cooperative malfunctioning spacecraft, a method based on monocular visual Simultaneous Localization and Mapping (SLAM) is proposed in this paper. The algorithm is mainly used to extract feature points, match and calculate the pose relation between the camera and the malfunctioning spacecraft, measure the pose change of the malfunctioning spacecraft, and use the relative pose and image sequence to build a three-dimensional model of the malfunctioning spacecraft. The results of ground experiments show that the accuracy of pose measurement and modeling is high, which verifies the feasibility of SLAM technology in the field of on-orbit servicing for non-cooperative target spacecraft.