Fig. 1. Time-grating encoding of X strip at different time. (a) At time 0; (b) at time t₁; (c) at time t₂; (d) at time t₃

Fig. 2. Process of parsing the time-grating encoding. (a) Receiving the laser signal; (b) time-grating coding and laser pulse energy

Fig. 3. Motion curve of the optical scanner

Fig. 4. Schematic of laser time-grating field spatial angle measurement technology. (a) Coordinate system of reference station; (b) X laser strip for azimuth scanning; (c) Y laser strip for elevation scanning

Fig. 5. Analysis of measurement space. (a) Measurement space; (b) laser power attenuation model

Fig. 6. Schematic of reference station

Fig. 7. Schematic of positioning unit

Fig. 8. Static experimental verification platform of laser time-grating field spatial angle measuring system

Fig. 9. Schematic of static experimental setup

Fig. 10. Dynamic experimental verification platform for laser time-grating field spatial angle measurement system

Fig. 11. Dynamic angle measurement experiment scene. (a) Reference station; (b) UAV equipped with positioning unit and differential GPS

Fig. 12. Schematic of dynamic experimental setup

Fig. 13. Dynamic measurement results of UAV angles using GPS and a positioning unit. (a) Azimuth; (b) azimuthal error; (c) pitch angle; (d) pitch angle error

Fig. 14. UAV motion trajectory curves. (a) Distance between UAV and reference station; (b) UAV three-dimensional motion trajectory