针对基于光学成像敏感器测量的相对导航问题,提出一种直接采用光学敏感器多目标视线角测量信息,利用UKF滤波方法设计滤波器,对相对位置、相对速度和相对姿态等相对状态进行估计的相对导航方法。将所提出的相对导航方法应用于月球交会对接平移靠拢段相对导航,通过数学仿真验证了所提出方法的有效性。所提出的方法对实际工程应用具有理论参考价值。 Aiming at the problem of relative navigation based on optical imaging sensor measurement, this paper proposes a method to directly estimate the angle of view of multi-target optical sensor and the UKF filter to estimate the relative position, relative velocity and relative attitude Relative navigation method. The proposed relative navigation method is applied to the relative navigation of lunar rendezvous and docking and its close-up phase. The effectiveness of the proposed method is verified by mathematical simulation. The proposed method has theoretical reference value for practical engineering application.