In view of the shortcomings of “GPS + INS + two-way data link” navigation solution for rocket first stage recovery using vertical landing droneship, a four-channel light detection and ranging (LIDAR) relative navigation system (FCLRNS) is proposed in this paper. The system is based on the physical phenomenon that the laser reflectivity of the ship deck in the near-infrared band is four orders of magnitude higher than that of the sea surface. The FCLRNS laser detection model is established and its navigation solution which provides estimates of the trajectory inclination angle, the altitude, the speed of the rocket first stage relative to the sea/ship surface, and the roll angle of the first stage using four-channel LIDAR ranging information is formulated. Simulation results show that the FCLRNS can reliably identify the ship surface and the sea surface and accurately obtain the above navigation parameters. In order to verify the effectiveness of FCLRNS, a relative navigation experiment is conducted in which rotorcraft and reduced scale ship on the lake are used to simulate the rocket first stage recovery at sea. The experiment results are consistent with those of the simulation. The FCLRNS navigation scheme can be further combined with other systems, for example the optical system to provide full relative position and attitude information, and thus is a useful supplement to “GPS+INS+two-way data link” navigation solution for the rocket first stage recovery.

鉴于“ GPS + INS +双向数据链路”导航解决方案用于垂直降落无人机的火箭一级恢复的缺点，在此提出了一种四通道光探测与测距（LIDAR）相对导航系统（FCLRNS）纸。该系统基于物理现象，即近红外波段中船甲板的激光反射率比海面的激光反射率高四个数量级。建立FCLRNS激光检测模型，并建立其导航解决方案，该解决方案使用四通道估算轨迹倾斜角，高度，火箭第一级相对于海/船表面的速度以及第一级的侧倾角制定了LIDAR测距信息。仿真结果表明，FCLRNS能够可靠地识别出船面和海面，并能准确获得上述导航参数。为了验证FCLRNS的有效性，进行了相对导航实验，其中旋翼飞机和缩小规模的船在湖上被用来模拟火箭在海上的第一阶段恢复。实验结果与仿真结果吻合。FCLRNS导航方案可以进一步与其他系统（例如光学系统）结合使用，以提供完整的相对位置和姿态信息，因此是火箭优先使用的“ GPS + INS +双向数据链接”导航解决方案的有用补充恢复阶段。进行了相对导航实验，其中旋翼机和缩小规模的船在湖上被用来模拟火箭在海上的第一阶段恢复。实验结果与仿真结果吻合。FCLRNS导航方案可以进一步与其他系统（例如光学系统）结合使用，以提供完整的相对位置和姿态信息，因此是火箭优先使用的“ GPS + INS +双向数据链接”导航解决方案的有用补充恢复阶段。进行了相对导航实验，其中旋翼机和缩小规模的船在湖上被用来模拟火箭在海上的第一阶段恢复。实验结果与仿真结果吻合。FCLRNS导航方案可以进一步与其他系统（例如光学系统）结合使用，以提供完整的相对位置和姿态信息，因此是火箭优先使用的“ GPS + INS +双向数据链接”导航解决方案的有用补充恢复阶段。