An optoelectronic guidance tracking detection method and system based on a tracking relay scene

Abstract

The application provides a photoelectric guidance tracking detection method and system based on a tracking relay scene. The method comprises the following steps: assembling a 360-degree range area unmanned aerial vehicle detection platform without occlusion; establishing an unmanned aerial vehicle photoelectric cooperative detection guidance coordinate system based on the assembled unmanned aerial vehicle detection platform; obtaining target unmanned aerial vehicle observation information when a photoelectric detection device captures the target unmanned aerial vehicle; switching a to-be-relayed photoelectric detection device to a large-angle mode to perform a coarse guidance operation to extract multiple unmanned aerial vehicles when the captured target unmanned aerial vehicle is about to fly out of the sensor field of view of the photoelectric detection device; performing scalar triple product calculation on the extracted multiple unmanned aerial vehicles to screen out a target unmanned aerial vehicle; and performing relay detection operation on the screened target unmanned aerial vehicle. The application provides an accurate guidance method between photoelectric devices for a target unmanned aerial vehicle with unobvious target characteristics when there is no ranging function.

Description

Technical Field

[0001] This application relates to the field of photoelectric tracking and detection technology, specifically to a photoelectric guided tracking and detection method and system based on a tracking relay scenario. Background Technology

[0002] In recent years, with the rapid development of drone-related technologies, the application scenarios have become increasingly widespread and complex. The characteristics of drones include low flight altitude, slow speed, small reflective area, and indistinct target characteristics, making drone tracking, detection, and identification a significant challenge.

[0003] Currently, the primary detection methods for small unmanned aerial vehicles (UAVs) both domestically and internationally rely on radio detection, supplemented by other methods such as photoelectric detection. Radio detection offers advantages over photoelectric detection, including longer detection range, wider search area, distance information, and all-weather operation. However, it lacks the ability to identify low-flying UAVs, and is particularly vulnerable to interference from sea birds and waves, especially in shipborne detection technology, easily missing targets with small reflective surfaces. Furthermore, in practical applications, considering overall cost, the detection accuracy and performance of radio equipment used for UAV detection and tracking are not very high. Therefore, photoelectric detection systems, with their strong detail resolution, intuitive image display, and immunity to electromagnetic interference, are more advantageous.

[0004] Optoelectronic devices offer high detection accuracy. Once a target drone is captured and tracked, combined with laser ranging technology, it can provide accurate target information such as azimuth, pitch, and distance. However, in shipboard applications, due to installation limitations, a single optoelectronic detection device typically has blind spots and cannot completely cover the 360° area of ​​the ship platform. When a drone enters the blind spot of the detecting and tracking device, the target is easily lost. Therefore, multiple optoelectronic detection devices are generally distributed and installed at multiple locations such as the bow and stern of the ship platform, forming a network architecture to achieve relay guidance, detection, tracking, and identification of target drones within the 360° range of the shipboard platform.

[0005] For target drones with small cross-sectional areas, optoelectronic devices typically operate within a narrow field of view (below 1°) to achieve stable tracking and identification. Since these devices are distributed across different locations on the shipboard platform, and baselines exist between them, the platform's swaying can cause significant issues. If the azimuth and pitch guidance data from one optoelectronic device is used to guide the next device at a distance of less than 5km, the drone is highly likely to be outside the narrow field of view of the next device, resulting in target loss. Furthermore, without ranging capabilities, the optoelectronic devices cannot perform position calculations, making it impossible to determine the precise guidance position of the target drone relative to the relay tracking sensor. Summary of the Invention

[0006] This application provides a photoelectric guidance tracking and detection method and system based on a relay tracking scenario. It can solve the technical problems in the prior art where, during the relay guidance of a target UAV, it is highly likely that the UAV will not be within the small field of view of the next photoelectric detection device, resulting in the loss of the target UAV. Furthermore, when the photoelectric detection device does not have a ranging function, it is impossible to perform position conversion and calculate the precise guidance position of the target UAV relative to the photoelectric detection device of the relay tracking.

[0007] Firstly, this application provides a photoelectric guided tracking and detection method based on a tracking relay scenario, comprising the following steps: Establish a 360° unobstructed drone detection platform; Based on the constructed UAV detection platform, an UAV photoelectric collaborative detection guidance coordinate system was established, and the spatial positions of multiple photoelectric detection devices within the UAV detection platform were determined. Once a photoelectric detection device detects the target drone, it acquires observation information about the target drone. When the captured target drone is about to fly out of the sensor field of view of the photoelectric detection device, switch the photoelectric detection device to be taken over to the wide field of view mode to perform coarse guidance operation to extract multiple drones; Perform scalar triple product calculation on the extracted multiple drones to filter out the target drones; Perform relay detection operations on the selected target drones.

[0008] In conjunction with the first aspect, in one implementation, the step of constructing a 360° unobstructed drone detection platform specifically includes the following steps: Multiple photoelectric detection devices are distributed on the shipboard platform and connected by a high-speed fiber optic network to form a network architecture, creating a 360° unobstructed drone detection platform.

[0009] In conjunction with the first aspect, in one implementation, the step of establishing a UAV photoelectric cooperative detection guidance coordinate system based on the constructed UAV detection platform and determining the spatial positions of multiple photoelectric detection devices within the UAV detection platform specifically includes the following steps: Based on the established UAV detection platform, a spatial rectangular coordinate system for photoelectric collaborative detection guidance under the geodetic coordinate system is established with one of the photoelectric detection devices as the origin of the coordinate system, and the spatial coordinate systems of the other photoelectric detection devices on the UAV detection platform are determined.

[0010] In conjunction with the first aspect, in one implementation, the step of performing scalar triple product calculation on the extracted multiple drones to filter out the target drone specifically includes the following steps: Based on the target UAV observation information, obtain the center detection line vector of the current photoelectric detection equipment; Based on the relative positions of the current photoelectric detection device and the photoelectric detection device to be relayed, obtain the line vector connecting the two photoelectric detection devices; Based on the position information of multiple targets under the large field-of-view mode of the photoelectric detection equipment to be relayed, obtain the multi-target detection vector; Perform triple product calculation on the obtained center detection vector, connection vector and multi-target detection vector, and obtain the triple product calculation result; Based on the obtained triple product calculation results, the target drones are selected.

[0011] In conjunction with the first aspect, in one implementation, the step of filtering out target drones based on the obtained triple product calculation results specifically includes the following steps: If the result of the triple product is not zero, then the center detection vector, the connection vector, and the multi-target detection vector are determined to be non-coplanar. If the triple product result is zero, it is determined that the center detection vector, the connection vector, and the multi-target detection vector are coplanar. Then, the i-th UAV currently being tracked by the photoelectric detection device to be relayed is selected as the target UAV currently being tracked by the photoelectric detection device. The target position of the i-th UAV is then selected and loaded as the fine guidance command of the photoelectric detection device to be relayed.

[0012] In conjunction with the first aspect, in one implementation, the observation information is azimuth and elevation angle values.

[0013] In conjunction with the first aspect, in one implementation, the step of performing relay detection of the selected target UAVs specifically includes the following steps: Switch the photoelectric detection device to be relayed to the small field-of-view mode, and perform fine guidance operation on the photoelectric detection device to be relayed until the target UAV is located at the center of the small field of view of the photoelectric detection device to be relayed.

[0014] Secondly, this application provides a photoelectric guided tracking and detection system based on a tracking relay scenario, comprising: The detection platform assembly module is used to assemble a 360° unobstructed UAV detection platform. The coordinate system establishment module is communicatively connected to the detection platform assembly module. It is used to establish a UAV photoelectric cooperative detection guidance coordinate system based on the assembled UAV detection platform and to determine the spatial positions of multiple photoelectric detection devices within the UAV detection platform. The target acquisition module is communicatively connected to the coordinate system establishment module and is used to acquire the target UAV observation information after a photoelectric detection device acquires the target UAV. The multi-target extraction module is communicatively connected to the target acquisition module. When the captured target UAV is about to fly out of the sensor field of view of the photoelectric detection device, the photoelectric detection device to be taken over is switched to the wide-view mode to perform coarse guidance operation to extract multiple UAVs. The target filtering module is communicatively connected to the multi-target extraction module and is used to perform scalar triple product calculation on the extracted multiple UAVs to filter out the target UAVs. The relay tracking and adjustment module is communicatively connected to the target screening module and performs relay detection operations on the screened target UAVs.

[0015] In conjunction with the second aspect, in one implementation, the target screening module includes: The first vector acquisition unit is used to acquire the center detection line vector of the current photoelectric detection device based on the acquired target UAV observation information; The second vector acquisition unit is used to acquire the line vector connecting the two photoelectric detection devices based on the relative positions of the current photoelectric detection device and the photoelectric detection device to be relayed. The third vector acquisition unit is used to acquire multi-target detection vectors based on the multiple target location information obtained from the current photoelectric detection equipment. The calculation unit is communicatively connected to the first vector acquisition unit, the second vector acquisition unit, and the third vector acquisition unit, and is used to perform triple product calculation on the acquired center detection vector, connection vector, and multi-target detection vector, and obtain the triple product calculation result. The target screening module is communicatively connected to the computing unit and is used to screen out target drones based on the obtained triple product calculation results.

[0016] Thirdly, this application provides a computer-readable storage medium storing a photoelectric guidance tracking and detection program based on a tracking relay scenario, wherein when the photoelectric guidance tracking and detection program based on the tracking relay scenario is executed by a processor, it implements the steps of the photoelectric guidance tracking and detection method based on the tracking relay scenario as described above.

[0017] The beneficial effects of the technical solutions provided in this application include at least the following: The photoelectric guidance tracking and detection method provided in this application, based on a relay tracking scenario, allows for the following steps: When a target UAV requires relay guidance, the method switches to a wide field-of-view mode to set coarse guidance commands, performs multi-target extraction, calculates a scalar triple product, and filters out the target being tracked. Then, it switches to a narrow field-of-view mode to set fine guidance commands, ensuring accurate relay tracking guidance of the target UAV by the next photoelectric detection device. This improves the target acquisition and tracking capabilities of the photoelectric system and fully utilizes the high detection and recognition accuracy of photoelectric equipment. Even without ranging functionality, it achieves accurate guidance between photoelectric devices for UAVs with indistinct target characteristics, avoiding the impact of factors such as baseline distance and lack of target distance information on photoelectric tracking. Attached Figure Description

[0018] Figure 1 A flowchart illustrating the photoelectric guided tracking and detection method based on a tracking relay scenario provided in this application embodiment; Figure 2 A schematic diagram illustrating the distributed deployment of multiple photoelectric detection devices provided by the photoelectric guided tracking and detection method based on a tracking relay scenario, as shown in the embodiments of this application. Figure 3 Another method flowchart of the photoelectric guided tracking and detection method based on a tracking relay scenario provided in this application embodiment; Figure 4 A functional block diagram of a photoelectric guided tracking and detection system based on a tracking relay scenario provided in this application embodiment. Detailed Implementation

[0019] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0020] The terms "comprising" and "having," and any variations thereof, in the specification, claims, and accompanying drawings of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such process, method, product, or apparatus. The terms "first," "second," and "third," etc., are used to distinguish different objects, etc., and do not indicate a sequence, nor do they limit "first," "second," and "third" to different types.

[0021] In the description of the embodiments of this application, terms such as "exemplary," "for example," or "for instance" are used to indicate examples, illustrations, or explanations. Any embodiment or design described as "exemplary," "for example," or "for instance" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of terms such as "exemplary," "for example," or "for instance" is intended to present the relevant concepts in a concrete manner.

[0022] In the description of the embodiments of this application, unless otherwise stated, " / " means "or". For example, A / B can mean A or B. The "and / or" in the text is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of this application, "multiple" means two or more.

[0023] In some processes described in the embodiments of this application, multiple operations or steps are included in a specific order. However, it should be understood that these operations or steps may not be executed in the order they appear in the embodiments of this application, or they may be executed in parallel. The sequence number of the operation is only used to distinguish different operations, and the sequence number itself does not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be executed sequentially or in parallel, and these operations or steps may be combined.

[0024] Firstly, please refer to Figure 1 This application provides a photoelectric guided tracking and detection method based on a tracking relay scenario, including the following steps: Step S1: Construct a 360° unobstructed drone detection platform; Step S2: Based on the constructed UAV detection platform, establish the UAV photoelectric collaborative detection guidance coordinate system, i.e., the geodetic coordinate system, and determine the spatial positions of multiple photoelectric detection devices within the UAV detection platform; Step S3: After a photoelectric detection device captures the target UAV, it acquires the target UAV observation information; Step S4: When the captured target drone is about to fly out of the sensor field of view of the photoelectric detection device, switch the photoelectric detection device to be taken over to the wide-view mode to perform coarse guidance operation to extract multiple drones; Step S5: Perform scalar triple product calculation on the extracted multiple UAVs to filter out the target UAVs; Step S6: Perform relay detection of the selected target UAVs.

[0025] In one embodiment, step S1, the step of constructing a 360° unobstructed UAV detection platform, specifically includes the following steps: Please refer to Figure 2 Multiple photoelectric detection devices are distributed across a shipboard platform, such as at the bow, stern, and port and starboard sides. These devices are interconnected via a high-speed fiber optic network to form a network architecture, creating a 360° unobstructed drone detection platform. The photoelectric sensors of the detection devices are mounted on servo turntables, which control the azimuth and pitch angles of the devices. Upon detecting a target drone, the system captures, tracks, and identifies the drone, outputting its azimuth and pitch angle observation information.

[0026] In one embodiment, step S2, establishing a UAV photoelectric cooperative detection guidance coordinate system based on the assembled UAV detection platform and determining the spatial positions of multiple photoelectric detection devices within the UAV detection platform, specifically includes the following steps: Based on the constructed UAV detection platform, with one of the photoelectric detection devices as the origin of the coordinate system, denoted as P0(0,0,0), the geodetic coordinate system n is defined as follows: adopting the northeast-central celestial coordinate system, with the ship's position as the farthest point, the X-axis pointing due east, the Y-axis pointing due north, and the X, Y, and Z axes following the right-hand coordinate system rule. Therefore, the coordinates of any point of the UAV in space are represented in the geodetic coordinate system n as follows: Establish a spatial rectangular coordinate system for photoelectric collaborative detection guidance under the geodetic coordinate system; The spatial coordinate system of other photoelectric detection equipment on the UAV detection platform is determined as follows: Since the installation positions of each photoelectric detection device on the ship are fixed, the spatial positions of the other photoelectric devices in the coordinate system are determined as P1 based on the relative positional relationships between the photoelectric detection devices and the ship's attitude information. P2 P3 wait.

[0027] In one embodiment, step S3, obtaining the target UAV observation information after a photoelectric detection device captures the target UAV, specifically includes the following steps: Specifically, multiple photoelectric detection devices on a mobile transport platform image in specific directions. When a photoelectric detection device detects a target UAV, it automatically acquires, tracks, and identifies the target type, outputting the target UAV's azimuth and pitch angle in the geodetic coordinate system. More specifically, photoelectric detection device P1... The photoelectric sensor on the device detected the position and orientation of the target drone. The pitch angle value is .

[0028] In one embodiment, step S4, when the captured target drone is about to fly out of the sensor field of view of the photoelectric detection device, switches the photoelectric detection device to be taken over to the wide-view mode to perform coarse guidance operation to extract multiple drones, specifically includes the following steps: When the captured target drone is about to fly out of the sensor field of view of the currently tracking electro-optical detection device P1, the next electro-optical detection device, namely the relay electro-optical detection device P2, is switched to the wide field of view mode to perform coarse guidance operations to extract multiple drones. The position information of the azimuth and pitch angle values ​​of the multiple drones detected by the relay electro-optical detection device P2 in the wide field of view mode are as follows: , , ...

[0029] The "about to fly out" can be determined based on the distance between the target drone and the sensor's field of view. When the distance between the target drone and the boundary of the sensor's field of view is less than a preset distance, it is determined that the target drone is about to fly out of its sensor's field of view.

[0030] In one embodiment, please refer to Figure 3 Step S5, which involves performing a scalar triple product calculation on the extracted multiple UAVs to filter out the target UAV, specifically includes the following steps: Step S51: Based on the acquired target UAV observation information, obtain the center detection line vector of the current photoelectric detection device. Specifically, the line vector connecting the current photoelectric detection device P1 and the target UAV is... ; Step S52: Based on the relative positions of the current photoelectric detection device and the photoelectric detection device to be relayed, obtain the line vector connecting the two photoelectric detection devices. Specifically, the line vector connecting the current photoelectric detection device P1 and the relay photoelectric detection device P2 is... ; Step S53: Based on the multiple target position information of the relay photoelectric detection equipment in the large field-of-view mode, obtain the multi-target detection vector. Specifically, the connection vector between the relay photoelectric detection equipment and the n UAVs extracted in the large field-of-view mode is as follows:

[0031]

[0032]

[0033] ... .

[0034] Step S54: Perform triple product calculation on the obtained center detection vector, connection vector, and multi-target detection vector, and obtain the triple product calculation results as follows: The scalar triple product of three vectors a, b, and c is defined as follows: , Define three vectors a, b, and c as follows: , , , The formula for calculating the triple product is as follows:

[0035]

[0036] ; therefore,

[0037] Step S55: Based on the obtained triple product calculation results, select the target drone.

[0038] In one embodiment, step S55, the step of filtering out target drones based on the obtained triple product calculation results, specifically includes the following steps: Step S551: If the result of the triple product is not zero, then it is determined that the center detection vector, the connection vector, and the multi-target detection vector are not coplanar; Step S552: If the triple product result is zero, it is determined that the center detection vector, the connection vector, and the multi-target detection vector are coplanar. Then, the i-th UAV currently being tracked by the current photoelectric detection device P2 is selected as the target UAV currently being tracked by the current photoelectric detection device P2. The target position of the i-th UAV is selected and filled into the fine guidance command of the photoelectric detection device P2 to be relayed, and the next photoelectric detection device of the current photoelectric detection device relays the tracking of the target UAV.

[0039] In one embodiment, step S6, performing a relay detection operation on the selected target UAV, specifically includes the following steps: The multiple drones (1-n) extracted by the relay photoelectric detection equipment undergo triple product calculation until the result of the triple product calculation for the i-th drone is 0. The target position of the i-th drone with a triple product calculation result of 0 is loaded into the fine guidance command of the relay photoelectric detection equipment P2. The relay photoelectric detection equipment P2 is switched to small field of view mode and fine guidance operation is performed on the relay photoelectric detection equipment until the target drone is located at the center of the small field of view of the relay photoelectric detection equipment. The target drone is captured and tracked in real time, realizing precise guidance and relay tracking of the target drone.

[0040] Secondly, please refer to Figure 4 This application provides an optoelectronic guided tracking and detection system based on a relay tracking scenario, comprising: a detection platform assembly module, a coordinate system establishment module, a target acquisition module, a multi-target extraction module, a target filtering module, and a relay tracking adjustment module. The detection platform assembly module 100 is used to assemble a 360° unobstructed UAV detection platform. The coordinate system establishment module 200 is communicatively connected to the detection platform assembly module 100 and is used to establish a UAV optoelectronic collaborative detection and guidance coordinate system based on the assembled UAV detection platform, and to determine the spatial positions of multiple optoelectronic detection devices within the UAV detection platform. The target acquisition module 300 is communicatively connected to the coordinate system establishment module 200. The system is used to acquire observation information of a target UAV after a photoelectric detection device captures it; the multi-target extraction module 400 is communicatively connected to the target capture module 300, and is used to switch the photoelectric detection device to be relayed to a wide-view mode to perform coarse guidance operations to extract multiple UAVs when the captured target UAV is about to fly out of the sensor field of view of the photoelectric detection device; the target selection module 500 is communicatively connected to the multi-target extraction module 400, and is used to perform scalar triple product calculation on the extracted multiple UAVs to select the target UAV; the relay tracking adjustment module 600 is communicatively connected to the target selection module 500, and performs relay detection operations on the selected target UAV.

[0041] In conjunction with the second aspect, in one embodiment, the target screening module 500 includes a first vector acquisition unit 510, a second vector acquisition unit 520, a first vector acquisition unit 530, a calculation unit 540, and a target screening module 550. The first vector acquisition unit 510 is used to acquire the center detection line vector of the current photoelectric detection device based on the acquired target UAV observation information; the second vector acquisition unit 520 is used to acquire the line vector connecting the two photoelectric detection devices based on the relative positions of the current photoelectric detection device and the photoelectric detection device to be relayed; the first vector acquisition unit 530 is used to acquire multi-target detection vectors based on the multiple target position information detected by the current photoelectric detection device; the calculation unit 540 is communicatively connected to the first vector acquisition unit 510, the second vector acquisition unit 520, and the third vector acquisition unit 530, and is used to perform a triple product calculation on the acquired center detection vector, connection vector, and multi-target detection vectors to obtain the triple product calculation result; the target screening module 550 is communicatively connected to the calculation unit 540, and is used to screen out target UAVs based on the acquired triple product calculation result.

[0042] Thirdly, embodiments of this application also provide a readable storage medium.

[0043] The present application has a readable storage medium storing a photoelectric guidance tracking and detection program based on a tracking relay scenario, wherein when the photoelectric guidance tracking and detection program based on a tracking relay scenario is executed by a processor, it implements the steps of the photoelectric guidance tracking and detection method based on a tracking relay scenario as described above.

[0044] The method implemented when the photoelectric guided tracking and detection program based on the tracking relay scenario is executed can be referred to in the various embodiments of the photoelectric guided tracking and detection method based on the tracking relay scenario of this application, and will not be repeated here.

[0045] It should be noted that the sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0046] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes several instructions to cause a terminal device to execute the methods described in the various embodiments of this application.

[0047] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A photoelectric guided tracking and detection method based on a relay tracking scenario, characterized in that, Includes the following steps: Establish a 360° unobstructed drone detection platform; Based on the constructed UAV detection platform, an UAV photoelectric collaborative detection guidance coordinate system was established, and the spatial positions of multiple photoelectric detection devices within the UAV detection platform were determined. Once a photoelectric detection device detects the target drone, it acquires observation information about the target drone. When the captured target drone is about to fly out of the sensor field of view of the photoelectric detection device, switch the photoelectric detection device to be taken over to the wide field of view mode to perform coarse guidance operation to extract multiple drones; Perform scalar triple product calculation on the extracted multiple drones to filter out the target drones; Perform relay detection operations on the selected target drones; The step of performing scalar triple product calculation on the extracted multiple drones to filter out the target drone specifically includes the following steps: Based on the target UAV observation information, obtain the center detection line vector of the current photoelectric detection equipment; Based on the relative positions of the current photoelectric detection device and the photoelectric detection device to be relayed, obtain the line vector connecting the two photoelectric detection devices; Based on the position information of multiple targets under the large field-of-view mode of the photoelectric detection equipment to be relayed, obtain the multi-target detection vector; Perform triple product calculation on the obtained center detection vector, connection vector and multi-target detection vector, and obtain the triple product calculation result; Based on the obtained triple product calculation results, the target drones are selected.

2. The photoelectric guided tracking and detection method based on a relay tracking scenario as described in claim 1, characterized in that, The steps for constructing a 360° unobstructed drone detection platform specifically include the following: Multiple photoelectric detection devices are distributed on the shipboard platform and connected by a high-speed fiber optic network to form a network architecture, creating a 360° unobstructed drone detection platform.

3. The photoelectric guided tracking and detection method based on a relay tracking scenario as described in claim 1, characterized in that, The steps for establishing a UAV photoelectric collaborative detection guidance coordinate system and determining the spatial positions of multiple photoelectric detection devices within the UAV detection platform, based on the constructed UAV detection platform, specifically include the following steps: Based on the established UAV detection platform, a spatial rectangular coordinate system for photoelectric collaborative detection guidance under the geodetic coordinate system is established with one of the photoelectric detection devices as the origin of the coordinate system, and the spatial coordinate systems of the other photoelectric detection devices on the UAV detection platform are determined.

4. The photoelectric guided tracking and detection method based on a relay tracking scenario as described in claim 1, characterized in that, The step of selecting target drones based on the obtained triple product calculation results specifically includes the following steps: If the result of the triple product is not zero, then the center detection vector, the connection vector, and the multi-target detection vector are determined to be non-coplanar. If the triple product result is zero, it is determined that the center detection vector, the connection vector, and the multi-target detection vector are coplanar. Then, the i-th UAV currently being tracked by the photoelectric detection device to be relayed is selected as the target UAV currently being tracked by the photoelectric detection device. The target position of the i-th UAV is then selected and loaded as the fine guidance command of the photoelectric detection device to be relayed.

5. The photoelectric guided tracking and detection method based on a relay tracking scenario as described in claim 1, characterized in that, The observation information includes azimuth and elevation angle values.

6. The photoelectric guided tracking and detection method based on a relay tracking scenario as described in claim 1, characterized in that, The relay detection operation for the selected target drones specifically includes the following steps: Switch the photoelectric detection device to be relayed to the small field-of-view mode, and perform fine guidance operation on the photoelectric detection device to be relayed until the target UAV is located at the center of the small field of view of the photoelectric detection device to be relayed.

7. A photoelectric guided tracking and detection system based on a relay tracking scenario, comprising: The detection platform assembly module is used to assemble a 360° unobstructed drone detection platform. The coordinate system establishment module is communicatively connected to the detection platform assembly module. It is used to establish a UAV photoelectric cooperative detection guidance coordinate system based on the assembled UAV detection platform and to determine the spatial positions of multiple photoelectric detection devices within the UAV detection platform. The target acquisition module is communicatively connected to the coordinate system establishment module and is used to acquire the target UAV observation information after a photoelectric detection device acquires the target UAV. The multi-target extraction module is communicatively connected to the target acquisition module. When the captured target UAV is about to fly out of the sensor field of view of the photoelectric detection device, the photoelectric detection device to be taken over is switched to the wide-view mode to perform coarse guidance operation to extract multiple UAVs. The target filtering module is communicatively connected to the multi-target extraction module and is used to perform scalar triple product calculation on the extracted multiple UAVs to filter out the target UAVs. The relay tracking and adjustment module is communicatively connected to the target screening module and performs relay detection operations on the screened target UAVs; The target filtering module includes: The first vector acquisition unit is used to acquire the center detection line vector of the current photoelectric detection device based on the acquired target UAV observation information; The second vector acquisition unit is used to acquire the line vector connecting the two photoelectric detection devices based on the relative positions of the current photoelectric detection device and the photoelectric detection device to be relayed. The third vector acquisition unit is used to acquire multi-target detection vectors based on the multiple target location information obtained from the current photoelectric detection equipment. The calculation unit is communicatively connected to the first vector acquisition unit, the second vector acquisition unit, and the third vector acquisition unit, and is used to perform triple product calculation on the acquired center detection vector, connection vector, and multi-target detection vector, and obtain the triple product calculation result. The target screening module is communicatively connected to the computing unit and is used to screen out target drones based on the obtained triple product calculation results.

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