In middle-upper atmosphere LIDAR observation, the quality of the LIDAR return signal is highly correlated with the result of transmitter-receiver matching. This technology has become a bottleneck restricting the development of domestic and foreign LIDAR groups. In this paper, a self-adaptive transmitter-receiver matching algorithm and a compatible hardware and software system are developed to achieve accurate and efficient automatic transmitter-receiver matching. The method is able to select the detection range adaptively, adjust the direction and step size by the detected echo signal, and greatly reduce the matching steps while ensuring the matching accuracy, achieving high-precision and high-efficiency automatic transmitter-receiver matching. The algorithm and the associated software and hardware system provide important technical support for the daily observation, and also establish a solid foundation for the subsequent automation and intelligent operation of LIDAR.