Abstract: An intelligent, optoelectronic docking system for use in manned or unmanned spacecraft for automatically docking with a target spacecraft. The system is a multifaceted, active sensor using a controlling microprocessor to integrate the operation of independently triggerable laser sources for target illumination and optical receiver arrays for target detection. Returning signal waveforms are processed to sense the direction, range, and attitude of a target docking surface which may be equipped with passive optical aids to enhance the reflective signature. The docking system reconfigures its active sensor elements as the target range closes by sequentially employing three laser transceiver arrangements. As a result, the system effectively tracks a target from a range of several hundred meters down to a range of only a few centimeters.