Design of relative measurement system for docking and separation platform based on MIMU/CCD

In order to provide the physical platform for docking and separation ground test, the MIMU/CCD relative measurement system of docking and separation platform was designed. After the simplified model of platform was described, the sensors' measurement models were given, and the relative position and relative pose motion equations of test simultor were deduced. Based on federated filter algorithm, the information fuse measurement algorithm of relative navigation system was designed, which included two sub-systems, the first one, which composes of MIMU and vision measurement unit, was designed to compensate the measurement for the biase of MIMU, the second one adopted the ceiling CCD to correct the simultor's CCD. Finally, through the test of rendezvous and docking, the simulation results showed that navigation accuracy of the measurement system was effective.