Fig. 1. Structure of system

Fig. 2. Distribution of field of view

Fig. 3. Left camera group for far-segmented measurement

Fig. 4. Plane camera for near-segmented measurement

Fig. 5. Equivalent imaging model of line camera

Fig. 6. Positioning model of 4-line-camera

Fig. 7. Imaging model of plane camera for near-segmented measurement

Fig. 8. Cooperative target used in measurement experiment

Fig. 9. Segmented pose measurement system

Fig. 10. Image peaks of one outer ring LED on the four line array CCDs with vision range of 35 m. (a) Camera 1L; (b) camera 1R; (c) camera 2L; (d) camera 2R

Fig. 11. Image of inner ring LEDs on plane array camera with vision range of 5 m

Fig. 12. Distributions of calibration points and verification points in far-segmented measurement experiment

Fig. 13. Coordinate reconstruction errors of calibration points in X, Y, and Z directions

Fig. 14. Variation of attitude angle measurement result with time when target is 1 m away from camera. (a) Rolling angle; (b) pitching angle; (c) yaw angle

Fig. 15. Variation of attitude angle measurement result with time when target is 3 m away from camera. (a) Rolling angle; (b) pitching angle; (c) yaw angle