Method for relative attitude and position measurement of moving target based on lines

Aiming at estimating moving target's relative position and attitude parameters, an optical measurement method is investigated by using two unparallel lines. First, this work presents how the reference points determine the relative position and attitude parameters of moving target. Then a closed-form method is proposed based on lines on the target. Following that, the measuring error is studied in the way of simulation, and experiment result in the product is given. For the reason of extending the base line of corresponding parameters, the method relays little on the optical system. Experiment results show that this method can meet the high precision measurement requirements of moving target's relative attitude and position.