In the final approach phase of spacecraft autonomous rendezvous and docking, the relative positions, velocities and attitudes of two spacecrafts accurately are measured by the vision guided navigation system. Firstly, this paper designed the relative navigation measurement system model and state model base on flight dynamics. Secondly, an Extended Kalman Filter(EKF) was used to estimate the relative attitude, velocity and position, and complete the relative navigation algorithm of the autonomous relatively rendezvous and docking bases on Matlab - Simu-Link6. 5. Finally, we successfully completed the hardware - in - the - loop simulation experiment using the "electro - optical integrated measurement and relative navigation system" of our laboratory. The experimental results show that the relative navigation system of the autonomous rendezvous and docking can supply sufficient precise relative state information for two autonomous rendezvous and docking spacecrafts.%飞行器自主交会对接最终逼近段,通过视觉导航系统可以精确测量两飞行器在对接过程中的相对位置和姿态.根据飞行动力学建立相对导航观测模型和状态模型；设计基于微型可见光对接敏感器的相对导航算法；应用扩展卡尔曼滤波器(EKF),并采用simulink软件模块建立相对导航算法的模型；采用实验室的光电组合测量与相对导航系统成功的进行了地面半物理仿真.实验结果表明,导航半实物系统能够为两个交会对接航天器提供足够精度的相对运动状态信息.
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