The ability to autonomously determine the position and attitude of a swarm of satellites is a promising way of assembling Intelligent Self-powered Modules (ISMs) in orbit. This self assembly is guided through simple actuators and sensors and requires fewer resources. A vision based system is used to determine the pose of ISMs attempting docking, through two strategies: Spheroid modeling and feature detection methods. The former technique takes an image of the ISM to reconstruct its position. An additional set of reflectors are placed on each facet to then determine the attitude of the ISM. The attitude algorithms developed are validated for distances up to 30m, with the position determination tested for distances up to 50m. These methods are combined to autonomously estimate the pose of an ISM attempting to dock with a coupled structure of previously launched and connected ISMs.
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