一、引 言 航天器交会对接中的相对姿态和相对位置的测量,究其本质而言,实际上就是一个提取空间物体三维信息过程。近几年来,对提取空间物体三维信息方法的研究,概括起来主要有:移动体视法、照度差体视、投光法、双眼体视法、三眼体视法等。根据双目视差的原理,从一对立体图象中按以下步骤可得到空间物点的三维信息: I. INTRODUCTION The measurement of relative attitude and relative position of spacecraft rendezvous and docking, in essence, is actually a process of extracting three-dimensional information of space objects. In recent years, the research on the method of extracting the three-dimensional information of the space object can be summed up as follows: moving body vision method, illuminance difference stereo vision, light projection method, binocular stereo vision method and three-eye stereo vision method. According to the principle of binocular parallax, three-dimensional information of a space object can be obtained from a pair of three-dimensional images according to the following steps: