A mathematical model of five degrees of freedom is established.And an automatic docking system with CCD auto-collimator, CCD signal receiver, embedded computer, and actuating mechanism is designed.

• 建立了五个自由度偏差的数据模型，并设计出包括CCD自准直仪、CCD接收处理装置、嵌入式计算机和执行机构的自动对接系统。