The invention discloses a space non-cooperative target
pose measurement method based on a model. The space non-cooperative target
pose measurement method is characterized by comprising the following main steps: obtaining a deep edge and a texture edge of a target model according to a relative
pose at the last moment so as to obtain a visible
edge model; extracting a Harris characteristic of a current scene image according to a KLT (Karhunen-Loeve Transform)
algorithm; projecting the target visible
edge model in an image scene, searching an
image edge in a normal direction along the
edge model and calculating a residual error of a corresponding
characteristic point pair; estimating 3D coordinates of the Harris characteristic of a last frame through deep buffer, projecting the 3D coordinates in a current image in a current
estimation pose, and calculating a residual error of a corresponding
characteristic point pair; determining weights of
characteristic point pairs according to an M estimator robust method and distributing the weights of characteristic points according to the average residual error obtained in the two steps; and iteratively calculating a relative pose according to a visual
servo method. According to the method provided by the invention, the measurement of a relative pose of a space non-cooperative target can be realized, and the
advantage of low calculating amount is achieved.