常用的非合作目标航天器姿态测量技术往往借助于单目视觉进行迭代或双目视觉进行三维重建，该类方法在特征匹配过程中会产生误差，且实时性和准确性较差。针对上述问题，根据空间非合作飞行器的星箭对接环和发动机喷嘴具有空间平行但不共面的位置关系，开展了基于同心圆特征的非合作目标超近距离姿态测量模型的研究。通过改进双目视觉测量模型，完善了模型的角度适应性问题，提高了模型的适用性。仿真结果显示该算法在超近距离的姿态测量精度优于0.5°。

Conventional measurement of relative poses between two non-cooperative spacecrafts in close range is derived from the iteration of monocular vision or three-dimensional reconstruction of binocular vision, which introduces errors in the process of feature matching, and the timeliness and accuracy are poor. Regarding the issues above, this article tries to do some researches on measurement of relative poses between two non-cooperative spacecrafts in close range based on concentric circles. Here, ‘concentric circles’ means the spatial parallel but not coplanar positional relationship between docking ring and engine nozzle. Through the binocular vision measurement model, the angle adaptability and the applicability are improved. Then, the algorithm of this model is simulated, and the simulated results show that the accuracy of the algorithm can reach higher than 0.5°.