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An embedded system based on the TOF camera with laser as the driving light source is designed. The gray image and depth image are collected to detect and match the cooperative target in real time, and the pose information of the target object is obtained. The target used is circular, and the classical threshold algorithm is used to extract the centroid coordinate of the target and calculate the center-of-heart rate as the target recognition condition. The target matching is completed using the classical deterministic annealing algorithm, and two sets of three-dimensional coordinates are obtained. And the SVD method is used to solve the pose data. In the experiment, the position calculated by the TOF camera can achieve an accuracy of 0.13 degrees, and the position translation has an accuracy of 0.6%. It can accurately identify the target and calculate pose, which verifies the feasibility of the TOF camera for rendezvous and docking, SLAM and other fields.

A FPGA-based data acquisition system is designed，which is operated near space. In order to make the system run stably, this paper designs the system from both hardware and software. On the hardware side, FPGA is used as the controller of the acquisition system due to its strong anti-interference ability. Both the modules of sensor data acquisition and the implementing agency are redundantly processed and divided into main board and slave board to ensure the effectiveness of the system. In terms of software, based on the results of signal classification, it performs modular processing, analyzes the possible problems in the code and designs the state machine to deal with complex tasks. After testing, the data acquisition system can operate stably for a long time, can send sample data in real time, and can also respond to commands from the ground command station.