Pose estimation is the key capability for future On-orbit Servicing missions, as well as automatically building structures in space. In this work, an insight is given into the design of such an algorithm, using a novel PMD (photonic mixer device) sensor. This kind of sensor has never been used in the space environment yet. The work at hand shows the unique features of this technology and provides reasoning while PMD sensors are especially useful in application fields such as Rendezvous and Docking.