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。

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This provides technological guarantee for the auto-collimator whole-range measurement repetition precision.

为自准直仪的重复测量精度提供了技术保证。

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