Abstract: Aiming at the requirements of high frame rate, high resolution and high ranging accuracy in small celestial body detection, the characteristics of laser detection technology were deeply analyzed, and a hybrid solid-state laser 3D terrain mapping and navigation integrated design method was proposed. High imaging frame rate was realized by single photon array device and 532nm fiber laser, large field of view and sub-pixel resolution were realized by multi-mode scanning of two-dimensional voice coil motor fast mirror, and high-precision beam expansion and diffraction of laser beam were realized by Damman grating beam splitter. The results show that the laser ranging accuracy is better than 3 cm (3 sigma), the frame rate is 4 Hz, and the imaging resolution is as high as 1 100×1 100. The proposed method can give consideration to both topographic mapping and navigation, realize muti-function, light and miniaturized design, and greatly reduce resource consumption. It has good guiding significance for the implementation of small celestial body exploration missions.