Fig. 1. (a) Time domain curve and (b) vibration characteristic spectrum of airship

Fig. 2. Open-loop transfer function Bode diagram after compensation. (a) Magnitude; (b) phase

Fig. 3. Closed-loop transfer function Bode diagram after compensation. (a) Magnitude; (b) phase

Fig. 4. Trajectory of composite scanning

Fig. 5. Field view-beacon scanning

Fig. 6. Trajectory of spiral scanning

Fig. 7. Relationship between sub region size and total scan time

Fig. 8. Composite scan figure of 16×16

Fig. 9. Composite scanning without relative motion

Fig. 10. Composite scanning with uniform motion

Fig. 11. Composite scanning based on the constant motion with motion compensation

Fig. 12. Airship terminal physical drawing

Fig. 13. Experiment diagram of airship laser communication for ships