Fig. 1. Optical center to target pointing angle

Fig. 2. Structure of laser communication tracking pointing system for underwater platforms

Fig. 3. Flowchart of laser communication tracking pointing system for underwater platforms

Fig. 4. Time dependence of acceleration and deceleration versus angle

Fig. 5. Errors of simulated orbit position and actual orbit position. (a) Errors between forecasted value and actual value for X, Y, Z axes; (b) absolute position error

Fig. 6. Errors between actual navigational parameter prediction results and aircraft actual orbit, and pointing errors. (a) Errors between forecasted value and actual value for X, Y, Z axes; (b) absolute position error; (c) pointing vector errors in the local coordinate system; (d) optical pointing angle error

Fig. 7. Actual pointing errors versus theoretical pointing errors in pitch and roll directions. (a) Actual pointing error in pitch direction; (b) actual pointing error in roll direction

Table 1. Uplink establishment time

Table 2. Actual motor rotation time