中文摘要：

在全面分析了激光跟踪测量系统结构和工作原理的基础上，建立了系统运动学模型和转镜中心偏移数学模型。针对以往球坐标激光跟踪测量系统中参考点只能借助于外部具有更高精度的仪器来校正的缺点，提出了平面约束自校正方法，并给出了系统自校正算法。最后对激光跟踪测量系统运动学模型和自校正算法进行了仿真验证，结果表明该方法能有效地确定系统实际工作全过程和提高系统跟踪精度与响应速度。

英文摘要：

The kinematics model and tracking mirror center offset model of laser tracking system （LTS） were developed, based on the research on structure and working principle of LTS. A method of self--calibration using planar constraints was presented, which eliminates the need of using other higher accuracy instruments to calibrate the reference point in LTS; the self --calibration algorithm for LTS was also established. Finally, dynamic simulations on LTS model and algorithm were given, simulation results show that using these techniques to design and control LTS, the whole working process can be determined effectively, the tracking accuracy and responding speed can be improved quickly.