Fig. 1. CW frame

Fig. 2. Ground scene coordinate system representation

Fig. 3. Inertial force system transformation

Fig. 4. Spacecraft autonomous stitching process

Fig. 5. Docking readiness point calculation

Fig. 6. Simulation of path planning for ground experiments

Fig. 7. Controller design

Fig. 8. Step signal accordingly

Fig. 9. Simulated spacecraft

Fig. 10. Propelling system

Fig. 11. Experimental system communication architecture

Fig. 12. Ground test

Fig. 13. Position and attitude data of spacecraft A

Fig. 14. Velocity data from spacecraft A

Fig. 15. Position and attitude data of spacecraft B

Fig. 16. Velocity data from spacecraft B

Fig. 17. Comparison of spacecraft A planning data and measured data

Fig. 18. Comparison of spacecraft B planning data and measured data