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A 1.55-\mu m all-solid frequency-modulated continuous-wave (FMCW) coherent lidar based on the sinusoidal frequency demodulation technique for range and velocity measurement is presented. Both the nonlinearity of linear modulation waveform and the difficulty in measuring the frequency of sinusoidal modulation system are circumvented by utilizing segmental-processing-average (SPA) techniques. The results demonstrate that the resolutions of range and velocity measurement are better than 2 mm and 0.1 mm/s, respectively. The system has numerous practical and potential applications in space missions.