The past few decades have witnessed the burgeoning development of on-orbit servicing in light of various meaningful space applications such as repair of malfunctioning satellites, debris removal, on-orbit assembly and so on [1–4]. As for the orbit-servicing targets, they are usually divided into two categories, i.e., cooperative and non-cooperative ones, based on whether the space targets have active cross-link communication and cooperative identifiers with the servicing spacecraft or not. Before executing the orbit-servicing task, close-range rendezvous and proximity is an inevitable process in which precise observation for the orbit-servicing target is implemented to determine the docking ports and time (for the cooperative target) or capture ports and time(for the non-cooperative target) [5]. Thus, highly reliable and precise rendezvous and proximity control methods are essential to guarantee the safety and success of the on-orbit servicing task [6, 7].