Target detection positioning method and system of single unmanned aerial vehicle system

Abstract

The invention discloses a target detection positioning method and system of a single unmanned aerial vehicle system, and relates to the technical field of unmanned aerial vehicle target detection, and the method comprises the steps: employing a navigation system and two image detectors to construct the single unmanned aerial vehicle system; the method comprises the following steps: acquiring target azimuth information by using two image detectors in a single unmanned aerial vehicle system, and acquiring an absolute distance of the two target image detectors under an earth coordinate system according to geographic coordinate system information and attitude information output by a navigation system; and according to the relative relationship between the target and the unmanned aerial vehicle, in combination with the current geographic position information of the unmanned aerial vehicle, obtaining the absolute longitude and latitude height information of the target in the geographic coordinate system, and taking the absolute longitude and latitude height information as the position information of the target. According to the invention, on the basis of the existing inertial navigation and satellite navigation equipment on the unmanned aerial vehicle, the image recognition system is combined, and real-time detection and tracking of the geographic position of the enemy target can be realized after the target is recognized by the image recognition system without binding a big data model.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle target detection, and in particular to a target detection and positioning method and system for a single unmanned aerial vehicle system. Background Art

[0002] With the development of war forms, intelligent combat systems that can autonomously lock onto targets and carry out strikes after launch have become the main development goals of modern war technology. For enemy targets, especially mobile targets, their precise positioning is the key to achieving accurate and effective strikes. Currently, targets are usually acquired through three methods: satellite navigation, return of forward reconnaissance teams, and automatic detection and identification by drones. However, the accuracy of satellite navigation in acquiring targets is poor, which greatly reduces the accuracy and damage effect of strikes. The method of sending reconnaissance teams for reconnaissance has greatly increased the combat capability requirements of our personnel. Therefore, the use of drones to automatically identify targets has become a current research hotspot.

[0003] At present, the target identification and positioning methods of UAV systems are divided into single UAV and cluster UAV. As for the target positioning of cluster UAV, its working mode is affected by the reliability and accuracy of communication between UAVs, which has become a factor restricting its development. The target positioning of single UAV system mostly adopts image recognition system, and combines with pre-established image big data model to identify its geographical location. There is a certain information matching deviation, resulting in poor target location accuracy, and the training model requires a sufficient amount of data, which greatly increases the design difficulty.

[0004] In this field, researchers have published another single-UAV target recognition method, which uses a visual system to bind the target's image information in advance. After the UAV's visual system continuously scans and recognizes the target as it approaches the target, the UAV's built-in radar ranging is used to measure the target distance and return it. This leads to higher requirements for the hardware system on the UAV, and the accuracy and range of the radar ranging are subject to certain limitations. Summary of the invention

[0005] The purpose of the present invention is to address the deficiencies of the above-mentioned prior art and provide a target detection and positioning method and system for a single UAV system, so as to solve the problem in the prior art that after the UAV vision system continuously scans and identifies the target when approaching the target, the UAV's built-in radar ranging is used to measure the target distance and return, which leads to high requirements on the hardware system on the UAV and the accuracy and effective range of the radar ranging are subject to certain limitations.

[0006] The present invention specifically provides the following technical solutions:

[0007] A target detection and positioning method for a single UAV system comprises the following steps:

[0008] A single UAV system was constructed using a navigation system and two image detectors;

[0009] The target position information is obtained by using two image detectors in a single UAV system, and the target position information is converted into coordinates in the earth coordinate system. The absolute distance between the two target image detectors in the earth coordinate system is obtained according to the geographic coordinate system information and attitude information output by the navigation system.

[0010] The target orientation information and absolute distance after the coordinate conversion are processed according to an equiproportional relationship, and the coordinate relationship between the target and the two image detectors in the earth coordinate system is obtained respectively. According to the coordinate relationship and the current geographic location information of the UAV, the absolute longitude and latitude information of the target in the geographic coordinate system is obtained, and the absolute longitude and latitude information is used as the location information of the target.

[0011] Preferably, the method of acquiring target position information by using two image detectors in a single UAV system and performing coordinate conversion on the target position information in an earth coordinate system includes:

[0012] Get the position information of the target on the two image detectors a and b; the specific expression is:

[0013]

[0014] Among them, Δq θ and Δq ψ are respectively the pitch information and azimuth information of the target in the detection system; LSB and z LSB are the pitch and azimuth resolutions of the image detector on the UAV, respectively; Pixel and z Pixel are the pitch pixel deviation and azimuth pixel deviation of the target on the image detector, where a and b are two detectors respectively;

[0015] The target orientation information is converted from the detection coordinate system to the northeast sky coordinate system; the specific expression is:

[0016]

[0017] Where θ, ψ, and γ are the navigation pitch angle, yaw angle, and roll angle information of the strapdown image detector on the UAV respectively; R E , R N , R U are the position information of the target in the northeast celestial coordinate system on the two image detectors respectively;

[0018] According to the navigation output information of the UAV, the position information of the target on the two image detectors in the earth coordinate system is calculated; the specific expression is:

[0019]

[0020] Where λ and L are the geographical longitude and latitude information of the current location information of the UAV respectively; R earx , R eary , R eary They are the relative position information of the target and the UAV image detector in the earth coordinate system.

[0021] Preferably, the step of obtaining the absolute distance between the two target image detectors in the earth coordinate system according to the geographic coordinate system information and the attitude information output by the navigation system includes:

[0022] Get the information of the target on the two image detectors a and b in the northeastern sky coordinate system; the specific expression is:

[0023]

[0024] where x ab ,y ab 、z ab is the fixed distance between image detector a and image detector b in the body coordinate system; is the fixed distance between image detector a and image detector b in the northeast celestial coordinate system;

[0025] According to the navigation longitude and latitude information, the position distance between image detectors a and b in the earth coordinate system is calculated; the specific expression is:

[0026]

[0027] in, and are the position distances between image detectors a and b in the earth coordinate system respectively.

[0028] Preferably, the target orientation information and the absolute distance after the coordinate conversion are processed according to an equiproportional relationship to respectively obtain the coordinate relationship between the target and the two image detectors in the earth coordinate system, including:

[0029] Using position loading conversion technology, all position information is amplified with equal amplitude. The specific expression is:

[0030]

[0031] Among them, K LSB is the loading magnification;

[0032] Get the distance between the target point position and the two target image detectors in the earth coordinate system; the specific expression is:

[0033]

[0034] in: is the distance information between the target and the image detector a in the earth coordinate system; is the distance information between the target and the image detector b in the earth coordinate system.

[0035] Preferably, according to the coordinate relationship and the current geographic location information of the drone, the absolute latitude and longitude information of the target in the geographic coordinate system is obtained, and the absolute latitude and longitude information is used as the location information of the target, including:

[0036] Convert the current geographic coordinate system position information of the drone to the earth coordinate system; the specific expression is:

[0037]

[0038] Among them: XE, YE, ZE are the position information of the UAV in the earth coordinate system; a e =6378137, which is the major semi-axis under the 84 Earth model; b e =6356752, which is the short semi-axis under the 84 earth model; H is the current geographic altitude information of the drone;

[0039] According to the distance deviation between the inertial navigation installation surface and the two image detectors, the target geographical location information is calculated based on the image detectors used for distance navigation as the origin information; the specific expression is:

[0040]

[0041] in, and are the three-dimensional coordinates of the target geographic location information, Δx ear , Δy ear and Δz ear are the distance deviations between the inertial navigation installation surface and the two image detectors respectively;

[0042] The target position is calculated by converting the earth coordinate system to the geographic latitude and longitude information; the specific expression is:

[0043]

[0044] Among them, λ M , L M and H M They are respectively the geographic longitude information, geographic latitude information and geographic altitude information when the target position is converted from the earth coordinate system to the geographic coordinate system.

[0045] Preferably, the method further comprises:

[0046] The single drone system contains the definitions of all coordinate systems, specifically:

[0047] The earth coordinate system is adopted, the origin is the center of the earth, the O-Xe and O-Ye axes are in the equatorial plane of the earth, where the O-Xe axis points to the prime meridian, the O-Ze axis is the earth's rotation axis and points to the North Pole, and the O-Ye axis definition conforms to the right-hand rule;

[0048] The geographic coordinate system is used, and the origin of the coordinate system is defined at the missile's center of gravity or at its center of gravity. The O-Xg axis points to the geographic east, the O-Yg axis points to the geographic north, and the O-Zg axis is perpendicular to the local rotating ellipsoid and points to the sky. The relationship between the geographic coordinate system and the earth's coordinate system is expressed by the missile's geographic coordinates, i.e., longitude λ, latitude L, and ellipsoid height H.

[0049] The body coordinate system is used, with the origin defined as the center of gravity or center point of the body, the O-Yb axis points to its head along the body axis, the O-Zb axis is located in the longitudinal symmetry plane of the body, and is perpendicular to the upward direction, and the O-Xb definition conforms to the right-hand rule;

[0050] The detection coordinate system is used, with the origin defined as the center of gravity or center point of the image detector, the O-Zc axis points to the head of the image detector along the detection axis, the O-Yc axis is located in the longitudinal symmetry plane of the image detector, and is perpendicular to the upward direction and positive, and the O-Xc definition conforms to the right-hand rule.

[0051] The present invention provides a target detection and positioning system for a single UAV system, comprising:

[0052] An acquisition module for building a single-UAV system using a navigation system and two image detectors;

[0053] The distance acquisition module is used to obtain the target position information by using the two image detectors in the single UAV system, and to perform coordinate conversion on the target position information in the earth coordinate system, and to obtain the absolute distance between the two target image detectors in the earth coordinate system according to the geographic coordinate system information and attitude information output by the navigation system;

[0054] The positioning module is used to process the target orientation information and absolute distance after the coordinate conversion according to an equiproportional relationship, respectively obtain the coordinate relationship between the target and the two image detectors in the earth coordinate system, and obtain the absolute longitude and latitude information of the target in the geographic coordinate system according to the coordinate relationship and the current geographic location information of the drone, and use the absolute longitude and latitude information as the location information of the target.

[0055] The present invention provides a computer device, including a memory and a processor, wherein a program is stored in the memory, and when the program is executed by the processor, the processor executes the steps of the target detection and positioning method of the above-mentioned single unmanned aerial vehicle system.

[0056] The present invention provides a storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of the target detection and positioning method of a single unmanned aerial vehicle system are implemented.

[0057] Compared with the prior art, the present invention has the following significant advantages:

[0058] The present invention is based on the existing navigation system equipment on the unmanned aerial vehicle, and combines two image detectors to construct a single unmanned aerial vehicle system. Without the need to bind a large data model, the target position is obtained by only relying on the two image detectors, and the absolute distance of the two image detectors is processed in proportion to the target position, and through the conversion of different coordinate systems, the ranging without the need for radar is realized, and the target position information is detected and tracked in real time, thereby realizing accurate detection and positioning of the target, reducing the design complexity, and greatly improving the measurement accuracy of target positioning of the existing unmanned aerial vehicle system. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] Figure 1 This is an overall flow chart of a target detection and positioning method for a single UAV system of the present invention;

[0060] Figure 2 The present invention is a partial flow chart of a target detection and positioning method for a single UAV system. DETAILED DESCRIPTION

[0061] The following is a clear and complete description of the technical solutions of the embodiments of the present invention in conjunction with the drawings in the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0062] Figure 1 FIG. 1 is a flowchart of a method of the present invention for detecting and tracking a target using a single UAV and determining the absolute position of the target. The steps of implementing a method for detecting and positioning a target using a single UAV system of the present invention are as follows: Figure 2 As shown, specifically including:

[0063] Step S1: Construct a single UAV system using a navigation system and two image detectors.

[0064] The single UAV system consists of an inertial navigation + satellite navigation system and an image recognition system with two image detectors. All coordinate system definitions for target detection are determined based on the existing system hardware of the UAV. The single UAV system contains the definitions of all coordinate systems, specifically:

[0065] Earth coordinate system (e system): Earth coordinate system is represented by O-XeYeZe, with the origin at the center of the earth, O-Xe and O-Ye axes in the equatorial plane of the earth, where O-Xe axis points to the prime meridian (usually the meridian where the Greenwich Observatory is located), O-Ze axis is the earth's rotation axis and points to the North Pole, and the definition of O-Ye axis conforms to the right-hand rule. The earth coordinate system is fixed to the earth.

[0066] Geographic coordinate system (g system): The geographic coordinate system is represented by O-XgYgZg. The origin of the coordinate system is defined at the missile's center of gravity or its center of gravity. The O-Xg axis points to the geographic east, the O-Yg axis points to the geographic north, and the O-Zg axis is perpendicular to the local rotating ellipsoid and points to the sky. The relationship between the geographic coordinate system and the earth's coordinate system is represented by the missile's geographic coordinates, i.e., longitude λ, latitude L, and ellipsoid height H.

[0067] Body coordinate system (b system): The body coordinate system is represented by O-XbYbZb, and its origin is defined as the center of gravity or center point of the body. The O-Yb axis points to its head along the body axis. The O-Zb axis is located in the longitudinal symmetry plane of the body, and is positive when it is perpendicular to the upward direction. The O-Xb definition conforms to the right-hand rule (right front upper coordinate system).

[0068] Detection coordinate system (C system): The detection coordinate system is represented by O-XcYcZc, and its origin is defined as the center of gravity or center point of the image detector. The O-Zc axis points to the head of the image detector along the detection axis. The O-Yc axis is located in the longitudinal symmetry plane of the image detector, and is positive when it is perpendicular to the upward direction. The O-Xc definition conforms to the right-hand rule (upper-right front coordinate system).

[0069] Step S2: Use the two image detectors in the single UAV system to obtain the target orientation information, and perform coordinate conversion on the target orientation information in the earth coordinate system, and obtain the absolute distance between the two target image detectors in the earth coordinate system based on the geographic coordinate system information and attitude information output by the navigation system.

[0070] The target position information obtained from the two image detectors in the single UAV system is converted to the earth coordinate system by real-time calculation. The implementation process is as follows:

[0071] The position information of the target on the two image detectors a and b is obtained as follows:

[0072]

[0073] Where: Δq θ and Δq ψ are respectively the pitch information and azimuth information of the target in the detection system; LSB and z LSB are the pitch and azimuth resolutions of the image detector on the UAV, respectively; Pixeland z Pixel are the pitch pixel deviation and azimuth pixel deviation of the target on the image detector, where a and b are two detectors respectively.

[0074] The target position information is converted from the detection coordinate system to the northeast sky coordinate system. The calculation method is as follows:

[0075]

[0076] Where: θ, ψ, γ are the navigation pitch angle, yaw angle and roll angle information of the strapdown image detector on the UAV respectively; R E , R N , R U They are respectively the position information of the target in the northeast celestial coordinate system on the two image detectors.

[0077] According to the navigation output information of the UAV, the position information of the target on the two image detectors in the earth coordinate system is calculated as follows:

[0078]

[0079] Where: λ, L are the geographical longitude and latitude information of the current location information of the UAV; R earx , R eary , R eary They are the relative position information of the target and the UAV image detector in the earth coordinate system.

[0080] According to the geographic coordinate system information and attitude information output by the navigation system on the UAV, the absolute distance between the two target image detectors in the earth coordinate system is calculated in real time, including:

[0081] Calculate the information of the target on the two image detectors a and b in the northeast sky coordinate system:

[0082]

[0083] Where: x ab ,y ab 、z ab is the fixed distance between image detector a and image detector b in the body coordinate system; is the fixed distance between image detector a and image detector b in the northeast celestial coordinate system.

[0084] According to the navigation longitude and latitude information, the position distance between image detectors a and b in the earth coordinate system is calculated; the specific expression is:

[0085]

[0086] in, and are the position distances between image detectors a and b in the earth coordinate system respectively.

[0087] At this point, all position information in the single UAV target detection and positioning system is converted to the earth coordinate system to calculate the absolute relationship between them.

[0088] Step S3: Process the target orientation information and absolute distance after the coordinate conversion according to the proportional relationship, obtain the coordinate relationship between the target and the two image detectors in the earth coordinate system respectively, and obtain the absolute longitude and latitude information of the target in the geographic coordinate system according to the coordinate relationship and the current geographic location information of the UAV, and use the absolute longitude and latitude information as the location information of the target.

[0089] Calculate the coordinate relationship between the target and the two target image detectors in the earth coordinate system. The calculation process is as follows:

[0090] Although the distance longitude of the image detector on the drone can reach 0.01m, considering that the distance between the two image detectors on the drone is relatively close and the magnitude of the image detector azimuth information value is small, the position loading conversion technology is used to amplify all position information with equal amplitude. The method is as follows:

[0091]

[0092] Among them, K LSB The loading magnification shall not be less than 1000.

[0093] Calculate the distance between the target point position and the two target image detectors in the earth coordinate system. The specific expression is:

[0094]

[0095] in: is the distance information between the target and the image detector a in the earth coordinate system; is the distance information between the target and the image detector b in the earth coordinate system.

[0096] The relative distance between the target and the image detector is converted to the geographic coordinate system. The calculation method is as follows:

[0097] Convert the current geographic coordinate system location information of the drone to the earth coordinate system, including:

[0098]

[0099] Among them: XE, YE, ZE are the position information of the UAV in the earth coordinate system; a e =6378137, which is the major semi-axis under the 84 Earth model; be =6356752, which is the short semi-axis under the 84 earth model; H is the current geographic altitude information of the drone.

[0100] According to the distance deviation between the inertial navigation installation surface and the two image detectors, the target geographic location information is calculated based on the image detectors used for distance navigation as the origin information. The following is the target point location information in the earth coordinate system:

[0101]

[0102] in, and are the three-dimensional coordinates of the target geographic location information, Δx ear , Δy ear and Δz ear are the distance deviations between the inertial navigation mounting surface and the two image detectors respectively.

[0103] The target position is calculated by converting the earth coordinate system into geographic longitude and latitude information, thereby completing the accurate detection of the target position.

[0104]

[0105] Among them, λ M , L M and H M They are respectively the geographic longitude information, geographic latitude information and geographic altitude information when the target position is converted from the earth coordinate system to the geographic coordinate system.

[0106] According to the image recognition and solving cycle, the position information of the target is solved in real time according to steps S1 to S3, so as to realize the real-time detection of the position information of the maneuvering target until the task is completed and the target detection task is ended.

[0107] Implementation effect: According to Figure 1 The flowchart shown in the figure realizes the real-time detection of mobile targets on a single UAV system and calculates the target's geographic location information. Compared with the cluster multi-UAV positioning method, it greatly saves the use cost, reduces the design difficulty and improves the reliability. At the same time, compared with the rangefinder method used on traditional UAVs, it greatly reduces the complexity of the UAV mounting system and improves the engineering application value.

[0108] Based on the above method, the present invention provides a target detection and positioning system for a single UAV system, comprising: a collection module, a distance acquisition module and a positioning module.

[0109] Among them, the acquisition module is used to construct a single UAV system using a navigation system and two image detectors; the distance acquisition module is used to use the two image detectors in the single UAV system to obtain the target orientation information, and to perform coordinate conversion on the target orientation information in the earth coordinate system, and to obtain the absolute distance between the two target image detectors in the earth coordinate system according to the geographic coordinate system information and attitude information output by the navigation system; the positioning module is used to process the target orientation information and the absolute distance after the coordinate conversion according to an equiproportional relationship, and to obtain the coordinate relationship between the target and the two image detectors in the earth coordinate system respectively, and to obtain the absolute longitude and latitude height information of the target in the geographic coordinate system according to the coordinate relationship and the current geographic location information of the UAV, and to use the absolute longitude and latitude height information as the location information of the target.

[0110] The present invention also provides a computer device, including a memory and a processor, wherein a program is stored in the memory, and when the program is executed by the processor, the processor executes the steps of a target detection and positioning method for a single unmanned aerial vehicle system.

[0111] In accordance with the disclosed embodiments, a computing device may communicate with one or more external devices (e.g., keyboards, pointing devices, Bluetooth communications, etc.), or with any device (e.g., routers, modems, etc.) that enables a computing device to communicate with one or more other computing devices.

[0112] The present invention also provides a storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of a target detection and positioning method for a single unmanned aerial vehicle system are implemented.

[0113] According to the disclosed embodiments, the storage medium may be a non-volatile computer-readable storage medium, such as but not limited to: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present invention, the storage medium may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, apparatus, or device.

[0114] The above content is a further detailed description of the present invention in combination with a specific preferred embodiment. For technicians in the technical field to which the present invention belongs, several simple deductions or substitutions can be made without departing from the concept of the present invention, which should be regarded as belonging to the protection scope of the present invention.

Claims

1. A target detection and positioning method for a single UAV system, characterized in that: include: A single UAV system was constructed using a navigation system and two image detectors; The target position information is obtained by using two image detectors in a single UAV system, and the target position information is converted into coordinates in the earth coordinate system. The absolute distance between the two target image detectors in the earth coordinate system is obtained according to the geographic coordinate system information and attitude information output by the navigation system. The target orientation information and absolute distance after the coordinate conversion are processed according to an equiproportional relationship, and the coordinate relationship between the target and the two image detectors in the earth coordinate system is obtained respectively. According to the coordinate relationship and the current geographic location information of the UAV, the absolute longitude and latitude information of the target in the geographic coordinate system is obtained, and the absolute longitude and latitude information is used as the location information of the target.

2. The target detection and positioning method of a single UAV system according to claim 1, characterized in that: The method of obtaining target position information by using two image detectors in a single UAV system and performing coordinate conversion on the target position information in an earth coordinate system includes: Get the position information of the target on the two image detectors a and b; the specific expression is: Among them, Δq θ and Δq ψ are respectively the pitch information and azimuth information of the target in the detection system; LSB and z LSB are the pitch and azimuth resolutions of the image detector on the UAV, respectively; Pixel and z Pixel are the pitch pixel deviation and azimuth pixel deviation of the target on the image detector, where a and b are two detectors respectively; The target orientation information is converted from the detection coordinate system to the northeast sky coordinate system; the specific expression is: Where θ, ψ, and γ are the navigation pitch angle, yaw angle, and roll angle information of the strapdown image detector on the UAV respectively; R E , R N , R U are the position information of the target in the northeast celestial coordinate system on the two image detectors respectively; According to the navigation output information of the UAV, the position information of the target on the two image detectors in the earth coordinate system is calculated; the specific expression is: Where λ and L are the geographical longitude and latitude information of the current location information of the UAV respectively; R earx , R eary , R eary They are the relative position information of the target and the UAV image detector in the earth coordinate system.

3. The target detection and positioning method of a single UAV system according to claim 2, characterized in that: The method of obtaining the absolute distance between the two target image detectors in the earth coordinate system according to the geographic coordinate system information and the attitude information output by the navigation system includes: Get the information of the target on the two image detectors a and b in the northeastern sky coordinate system; the specific expression is: where x ab ,y ab 、z ab is the fixed distance between image detector a and image detector b in the body coordinate system; is the fixed distance between image detector a and image detector b in the northeast celestial coordinate system; According to the navigation longitude and latitude information, the position distance between image detectors a and b in the earth coordinate system is calculated; the specific expression is: in, and are the position distances between image detectors a and b in the earth coordinate system respectively.

4. The target detection and positioning method of a single UAV system according to claim 3, characterized in that: The target orientation information and the absolute distance after the coordinate conversion are processed according to an equal-proportional relationship to obtain the coordinate relationship between the target and the two image detectors in the earth coordinate system, including: Using position loading conversion technology, all position information is amplified with equal amplitude. The specific expression is: Among them, K LSB is the loading magnification; Get the distance between the target point position and the two target image detectors in the earth coordinate system; the specific expression is: in: is the distance information between the target and the image detector a in the earth coordinate system; is the distance information between the target and the image detector b in the earth coordinate system.

5. The target detection and positioning method of a single UAV system according to claim 4, characterized in that: According to the coordinate relationship and the current geographic location information of the UAV, the absolute latitude and longitude information of the target in the geographic coordinate system is obtained, and the absolute latitude and longitude information is used as the location information of the target, including: Convert the current geographic coordinate system position information of the drone to the earth coordinate system; the specific expression is: Among them: XE, YE, ZE are the position information of the UAV in the earth coordinate system; a e =6378137, which is the major semi-axis under the 84 Earth model; b e =6356752, which is the short semi-axis under the 84 earth model; H is the current geographic altitude information of the drone; According to the distance deviation between the inertial navigation installation surface and the two image detectors, the target geographical location information is calculated based on the image detectors used for distance navigation as the origin information; the specific expression is: in, and are the three-dimensional coordinates of the target geographic location information, Δx ear , Δy ear and Δz ear are the distance deviations between the inertial navigation installation surface and the two image detectors respectively; The target position is calculated by converting the earth coordinate system to the geographic latitude and longitude information; the specific expression is: Among them, λ M , L M and H M They are respectively the geographic longitude information, geographic latitude information and geographic altitude information when the target position is converted from the earth coordinate system to the geographic coordinate system.

6. The target detection and positioning method of a single UAV system according to claim 1, characterized in that: The method further comprises: The single drone system contains the definitions of all coordinate systems, specifically: The earth coordinate system is adopted, the origin is the center of the earth, the O-Xe and O-Ye axes are in the equatorial plane of the earth, where the O-Xe axis points to the prime meridian, the O-Ze axis is the earth's rotation axis and points to the North Pole, and the O-Ye axis definition conforms to the right-hand rule; The geographic coordinate system is used, and the origin of the coordinate system is defined at the missile's center of gravity or at its center of gravity. The O-Xg axis points to the geographic east, the O-Yg axis points to the geographic north, and the O-Zg axis is perpendicular to the local rotating ellipsoid and points to the sky. The relationship between the geographic coordinate system and the earth's coordinate system is expressed by the missile's geographic coordinates, i.e., longitude λ, latitude L, and ellipsoid height H. The body coordinate system is used, with the origin defined as the center of gravity or center point of the body, the O-Yb axis points to its head along the body axis, the O-Zb axis is located in the longitudinal symmetry plane of the body, and is perpendicular to the upward direction, and the O-Xb definition conforms to the right-hand rule; The detection coordinate system is used, with the origin defined as the center of gravity or center point of the image detector, the O-Zc axis points to the head of the image detector along the detection axis, the O-Yc axis is located in the longitudinal symmetry plane of the image detector, and is perpendicular to the upward direction and positive, and the O-Xc definition conforms to the right-hand rule.

7. A target detection and positioning system for a single UAV system, characterized in that: include: An acquisition module for building a single-UAV system using a navigation system and two image detectors; The distance acquisition module is used to obtain the target position information by using the two image detectors in the single UAV system, and to perform coordinate conversion on the target position information in the earth coordinate system, and to obtain the absolute distance between the two target image detectors in the earth coordinate system according to the geographic coordinate system information and attitude information output by the navigation system; The positioning module is used to process the target orientation information and absolute distance after the coordinate conversion according to an equiproportional relationship, respectively obtain the coordinate relationship between the target and the two image detectors in the earth coordinate system, and obtain the absolute longitude and latitude information of the target in the geographic coordinate system according to the coordinate relationship and the current geographic location information of the drone, and use the absolute longitude and latitude information as the location information of the target.

8. A computer device, characterized in that: It includes a memory and a processor, wherein a program is stored in the memory, and when the program is executed by the processor, the processor executes the steps of a target detection and positioning method for a single unmanned aerial vehicle system as described in any one of claims 1 to 6.

9. A storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of a target detection and positioning method for a single unmanned aerial vehicle system according to any one of claims 1 to 6 are implemented.

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