The application discloses a
laser coarse-precision integrated tracking control method and
system, and belongs to the technical field of
laser communication control and adjustment. A
light beam direction vector is constructed in a three-dimensional space, and inverse rotation operation is carried out in combination with a current turntable attitude, so that camera errors can be uniformly returned to an initial base coordinate
system in any attitude, thereby realizing
geometric consistency calculation and dynamic decoupling control of coarse tracking and precision tracking. The coarse tracking and the precision tracking adopt the same line-of-
sight vector modeling method, the
algorithm structure is unified, through the inverse rotation operation, the errors are always returned to the initial base coordinate
system, the
coupling influence caused by the change of the turntable attitude is eliminated, the mirror compensation angle is directly deducted on the line-of-
sight angle level, the control superposition conflict in the traditional double-loop structure is avoided, under the small-angle approximation, only
matrix multiplication and arctangent operation are needed, and the application is suitable for embedded high-speed control systems, and the turntable only tracks low-frequency residual errors, and high-frequency
jitter of the mirror is avoided from being transmitted to the mechanical structure.