Iterative weighted algorithm for 9-dof pose solution and its application

Nine-axis motion parameters need to be calculated according to the relative pose to be simulated when the precision calibration test of rendezvous and docking optical imaging sensor is carried out with nine-degree of freedom motion simulator. Based on the structural characteristics of the system and the principle of homogeneous coordinate transformation, the inverse kinematics equations are established in this paper, in order to improve the test efficiency and ensure the accuracy of pose simulation, the iterative algorithm with fixed degrees of freedom was adopted to approximate the solution results, at last, the nine-axis weighting algorithm was used to judge the end of iteration and obtain the solution results of relative pose optimization.