A method and system for generating a gaze direction of an electro-optical device based on a radar system

Abstract

The application provides a method and system for generating a target of a photoelectric device based on a radar system, which comprehensively considers relative position relationship between the radar system and the photoelectric device, inclination of a mounting platform of the photoelectric device and time effectiveness of detection data of the radar system, can generate the target required by the photoelectric device more accurately, and converts a coordinate system rotation matrix and a trigonometric function into simple addition and multiplication operations according to the inclination (small inclination angle) of the mounting platform of the photoelectric device in a conversion process, so that the calculation amount can be greatly reduced, and the encoding and implementation are facilitated. The target generation method provided by the application has the characteristics of high target precision and strong real-time performance, is suitable for distributed or different mounting platform radars and photoelectric cooperative detection, can provide effective photoelectric targets for high-speed moving flight targets, and guides the photoelectric device to detect and track the targets.

Description

Technical Field

[0001] This invention relates to the field of radar-optical-coordinated detection, and more specifically, to a method and system for generating target indicators based on radar system-guided optoelectronic devices. Background Technology

[0002] Multi-sensor collaborative detection can compensate for the shortcomings of single sensors in complex environment adaptability, stealth / low-altitude target detection, target detection and tracking in cluttered environments, target recognition, and threat level assessment, as well as improve the performance of single sensors in detection and tracking range, accuracy, and data rate. The integrated use of radar's strong search and multi-target detection capabilities with the visibility, high precision, and high data rate of optoelectronics for radar-electro-optical collaborative detection is becoming increasingly widespread, such as in systems for detecting low-flying, slow-moving, and small targets, integrated detection and perception systems for unmanned equipment (unmanned vehicles, unmanned surface vessels), and shipborne multi-sensor collaborative detection systems.

[0003] A typical application of radar and optoelectronic joint detection is to use the target information searched by radar to guide optoelectronic equipment for monitoring, tracking and identification. At present, the target pointing generation method of radar-guided optoelectronic mainly considers the relative positional relationship between the two, ignoring the tilt of the installation platform and the timeliness of radar detection data. This results in inaccurate radar target pointing information for high-speed moving targets or different carriers, and cannot effectively guide optoelectronic to monitor and track targets. Summary of the Invention

[0004] In order to convert radar detection information into photoelectric pointers in real time and with high precision, this invention provides a method and system for generating pointers based on radar system-guided photoelectric devices. The method comprehensively considers the relative positions of the radar and photoelectric devices, the tilt angle of their respective mounting carriers, and the extrapolation and conversion of radar detection data.

[0005] According to a first aspect of the present invention, a method for generating a target indication based on a radar system guiding an optoelectronic device is provided, comprising:

[0006] Acquire radar system detection information of the target at the three most recent historical moments. The detection information at each moment includes coordinate position information. Transform the coordinate position information detected at each moment into the northeast-central rectangular coordinate system.

[0007] Based on the relative position information between the radar system and the optoelectronic equipment, the coordinate system is translated for the coordinate position information at each moment after conversion, and the position information of the northeast-sky rectangular coordinate system established with the optoelectronic equipment as the origin is obtained.

[0008] Based on the target's position information in the Cartesian coordinate system at the three most recent historical moments, a uniform acceleration model is used to extrapolate the target's position and predict the target's position coordinates at the current moment.

[0009] The estimated target's current position coordinates are combined with the roll angle θ of the optoelectronic equipment installation platform. x and pitch angle θ y Perform a Cartesian coordinate system rotation transformation to obtain the current position information of the target in the Cartesian coordinate system under the optoelectronic device carrier;

[0010] The current position information of the target in the rectangular coordinate system under the optoelectronic device carrier is converted into the position information in the polar coordinate system with the optoelectronic device as the carrier. The polar coordinate position information is then compensated for with zero position to obtain the azimuth and elevation angles of the target relative to the optoelectronic device.

[0011] According to a second aspect of the present invention, a target pointing generation system based on radar system guiding optoelectronic devices is provided, comprising:

[0012] The first conversion module is used to acquire the radar system's detection information of the target at the three most recent historical moments. The detection information at each moment includes coordinate position information, and the coordinate position information detected at each moment is converted into the northeast-central rectangular coordinate system.

[0013] The translation module is used to translate the coordinate system of the coordinate position information at each moment after conversion based on the relative position information between the radar system and the optoelectronic equipment, and obtain the position information of the northeast-sky rectangular coordinate system established with the optoelectronic equipment as the origin.

[0014] The prediction module is used to extrapolate the target's position in the Cartesian coordinate system based on the target's position information in the three most recent historical moments, and to predict the target's position coordinate information at the current moment using a uniform acceleration model.

[0015] The second conversion module is used to combine the estimated target's current position coordinates with the roll angle θ of the optoelectronic equipment installation platform. x and pitch angle θ y Perform a Cartesian coordinate system rotation transformation to obtain the current position information of the target in the Cartesian coordinate system under the optoelectronic device carrier;

[0016] The third conversion module is used to convert the current position information of the target in the rectangular coordinate system under the photoelectric device carrier into the position information in the polar coordinate system with the photoelectric device as the carrier, and to perform azimuth zero compensation on the polar coordinate position information to obtain the azimuth and elevation angles required for the target relative to the photoelectric device.

[0017] This invention provides a method and system for generating target indicators based on radar system guidance for optoelectronic devices. It comprehensively considers factors such as the relative positional relationship between the radar system and the optoelectronic device, the tilt of the optoelectronic device mounting platform, and the timeliness of radar system detection data. This allows for relatively accurate generation of the target indicators required by the optoelectronic device. During the conversion process, the coordinate system rotation matrix transformation and trigonometric functions are converted into simple addition and multiplication operations based on the tilt of the optoelectronic device mounting platform (tilt angle not exceeding 3°), significantly reducing computational load and simplifying coding and implementation. The target indicator generation method provided by this invention features high accuracy and strong real-time performance. It is applicable to distributed radar and optoelectronic collaborative detection on different mounting platforms and can provide effective optoelectronic targets for high-speed moving flying targets, guiding optoelectronic devices to detect and track targets. Attached Figure Description

[0018] Figure 1 A flowchart of a target indicator generation method based on radar system guiding optoelectronic devices provided by the present invention;

[0019] Figure 2 This is a schematic diagram of the time axis for radar electro-optical detection of guided targets;

[0020] Figure 3-1 The mounting platform for optoelectronic equipment rotates about the ox axis (pivot angle θ). y A schematic diagram of the spatial geometric relationship;

[0021] Figure 3-2 The mounting platform for optoelectronic equipment rotates around the oy axis (roll angle θ). x A schematic diagram of the spatial geometric relationship;

[0022] Figure 4 This is a schematic diagram of a target generation system based on radar system guiding optoelectronic devices, provided by the present invention. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. In addition, the technical features of the various embodiments or individual embodiments provided by the present invention can be arbitrarily combined with each other to form feasible technical solutions. Such combinations are not constrained by the order of steps and / or structural composition patterns, but must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.

[0024] The current method for generating target information for radar systems guiding optoelectronic devices is too simplistic, leading to inaccuracies in radar target information for high-speed moving targets or different carriers. This invention takes into account multiple factors and optimizes the target information generation process and calculation steps, thereby improving the timeliness and accuracy of target information.

[0025] Figure 1 A flowchart of a target indicator generation method based on radar system-guided optoelectronic equipment provided by the present invention is shown below. Figure 1 As shown, the method includes:

[0026] Step 1: Obtain the radar system's detection information of the target at the three most recent historical moments. The detection information at each moment includes coordinate position information. Convert the coordinate position information detected at each moment to the northeast-central rectangular coordinate system.

[0027] Step 2: Based on the relative position information between the radar system and the optoelectronic equipment, perform coordinate system translation on the coordinate position information at each moment after conversion to obtain the position information of the northeast-sky rectangular coordinate system established with the optoelectronic equipment as the origin.

[0028] This involves acquiring radar system detection information of the target at the three most recent historical moments. The detection information at each moment includes coordinate position information. The coordinate position information detected at each moment is then transformed into a North-South Cartesian coordinate system, including:

[0029] When the radar system detects the target at the i-th historical moment as polar coordinate position information At that time, the coordinate position information detected at each moment is transformed into the northeast-northeast rectangular coordinate system using the following formula:

[0030]

[0031] Where, θ i , R i These represent the azimuth, elevation, and slant range of the target detected by the radar system at historical time i, respectively, θ i '=θ i +θ R θ R This is the angle between the radar system's azimuth zero point and the north direction, with clockwise being positive.

[0032] Accordingly, the step of performing coordinate system translation on the coordinate position information at each moment after transformation based on the relative position information between the radar system and the optoelectronic device to obtain the position information in the northeast-central rectangular coordinate system established with the optoelectronic device as the origin includes:

[0033]

[0034] Where, x GR y GR z GR It refers to the radar coordinate position in the Northeast Celestial Rectangular Coordinate System established with the optoelectronic equipment as the origin.

[0035] Understandably, the radar system's detection information of the target may be polar coordinate position information or Earth coordinate system. The above is a scheme to convert the polar coordinate position information of the target detected by the radar system into radar coordinate position in the Northeast Celestial Cartesian coordinate system established with the photoelectric device as the coordinate origin when the radar system's detection information of the target is polar coordinate position information.

[0036] When the radar system detects a target in the Earth coordinate system, the radar system converts the target detection information at each moment using the Earth coordinate system location information of the optoelectronic device to obtain the location information of the northeast celestial rectangular coordinate system established with the optoelectronic device as the origin. The Earth coordinate system information includes longitude, latitude, and altitude.

[0037] Specifically, based on the longitude and latitude of the target detected by the radar system at the i-th historical moment and the longitude and latitude of the target detected by the optoelectronic device at the same moment, the horizontal projection distance R of the target relative to the optoelectronic device is obtained. i 'Information, relative photoelectric altitude information of the target is obtained through the altitude of two points H' i ', and obtain the angle θ between the target and north. i 'Then the position information of the target in the northeastern rectangular coordinate system established with the photoelectric device as the origin is:'

[0038]

[0039] Among them, H i '=H i -H G H i H represents the altitude of the target detected by the radar system. G This represents the altitude of the location where the optoelectronic equipment is situated.

[0040] Step 3: Based on the target's position information in the Cartesian coordinate system at the three most recent historical moments, the target position is extrapolated using a uniform acceleration model to predict the target's position coordinates at the current moment.

[0041] Understandably, based on step 2 above, the target's position information in the Northeast-Eastern Celestial Rectangular Coordinate System, established with the photoelectric device as the origin, can be obtained for the three most recent historical moments. This step uses this position information to estimate the target's position at the current moment. Specifically, this invention uses a uniform acceleration model to extrapolate the target's position at the current moment, predicting the target's position coordinates at the current moment. Its prediction formula is:

[0042]

[0043] in, These represent the coordinates of the radar system's detection information of the guided target at points B (the first most recent time point), C (the second most recent time point), and D (the third most recent time point) in the Northeast-Heaven Cartesian coordinate system after coordinate transformation. T1 is the time interval between detection points B and C, T2 is the time interval between detection points C and D, and Δt is the time interval between the current time point A and the detection point B at the first most recent time point. A timeline diagram illustrating the radar system and optoelectronic equipment's detection of the guided target can be found in [reference needed]. Figure 2 .

[0044] Step 4: Combine the estimated target's current position coordinates with the roll angle θ of the optoelectronic equipment mounting platform. x and pitch angle θ y Perform a Cartesian coordinate system rotation transformation to obtain the target's current position information in the Cartesian coordinate system under the optoelectronic device carrier.

[0045] Understandably, based on the estimated target's current position coordinates A...

[0046] Combined with the yaw angle θ of the optoelectronic equipment installation platform x (Right tilt is positive) and pitch angle θ y (With the head up as positive) Perform a Cartesian coordinate system rotation transformation, first rotating around the ox axis by a pitch angle θ. y For progress coordinate transformation, please refer to [link / reference]. Figure 3-1 Then rotate around the oy axis by a roll angle θ x For details on performing rotation matrix transformations, please refer to [link / reference]. Figure 3-2 Obtain the position A' of target point A in the rectangular coordinate system under the photoelectric carrier.

[0047] (x' GA ,y' GA ,z' GA Its expression is as follows:

[0048]

[0049] Wherein, if the yaw angle θ of the photoelectric mounting platform surface x With pitch angle θ y If the angle value is within ±3°, then sinθ y ≈θ y ≈0, sinθ y ≈θ y ≈0, The transformation matrix can be further simplified, and the simplified expression is as follows:

[0050]

[0051] Step 5: Convert the current position information of the target in the rectangular coordinate system under the photoelectric device carrier into the position information in the polar coordinate system with the photoelectric device as the carrier, and perform azimuth zero compensation on the polar coordinate position information to obtain the azimuth and elevation angles of the target relative to the photoelectric device.

[0052] Understandably, the rectangular coordinate position information A' obtained in step 4 is converted into polar coordinate system position information with photoelectric transmission as the carrier, and then azimuth zero-position compensation is performed to obtain the azimuth θ required for the target relative to the photoelectric transmission. GA and pitch angle

[0053]

[0054] Where, θ G This is the angle between the zero position of the photoelectric orientation and the north direction, with clockwise being positive. It is the difference between the nominal value of the photoelectric pitch zero position and the ground horizontal plane.

[0055] See Figure 4 The present invention also provides a target generation system based on radar system guiding optoelectronic devices, the system comprising a first conversion module 401, a translation module 402, a prediction module 403, a second conversion module 404, and a third conversion module 405, wherein:

[0056] The first conversion module 401 is used to acquire the radar system's detection information of the target at the three most recent historical moments. The detection information at each moment includes coordinate position information, and the coordinate position information detected at each moment is converted into the northeast-central rectangular coordinate system.

[0057] Translation module 402 is used to translate the coordinate system of the coordinate position information at each moment after conversion based on the relative position information between the radar system and the optoelectronic equipment, and obtain the position information of the northeast-sky rectangular coordinate system established with the optoelectronic equipment as the origin.

[0058] The prediction module 403 is used to extrapolate the target position using a uniform acceleration model based on the target's position information in the Cartesian coordinate system at the three most recent historical moments, and to predict the target's position coordinate information at the current moment.

[0059] The second conversion module 404 is used to combine the estimated target's current position coordinates with the roll angle θ of the optoelectronic equipment installation platform. x and pitch angle θ y Perform a Cartesian coordinate system rotation transformation to obtain the current position information of the target in the Cartesian coordinate system under the optoelectronic device carrier;

[0060] The third conversion module 405 is used to convert the current position information of the target in the rectangular coordinate system under the photoelectric device carrier into the position information in the polar coordinate system with the photoelectric device as the carrier, and to perform azimuth zero compensation on the polar coordinate position information to obtain the azimuth and elevation angles required by the target relative to the photoelectric device.

[0061] It is understood that the target finger generation system based on radar system guiding optoelectronic device provided by the present invention corresponds to the target finger generation method based on radar system guiding optoelectronic device provided in the foregoing embodiments. The relevant technical features of the target finger generation system based on radar system guiding optoelectronic device can be referred to the relevant technical features of the target finger generation method based on radar system guiding optoelectronic device, and will not be repeated here.

[0062] This invention provides a method and system for generating target indicators based on radar system guidance for optoelectronic devices. It comprehensively considers factors such as the relative positions of the radar and optoelectronic components, the tilt of the optoelectronic mounting platform, and the timeliness of radar detection data. This allows for relatively accurate generation of the target indicators required by the optoelectronic devices. During the conversion process, the coordinate system rotation matrix transformation and trigonometric functions are converted into simple addition and multiplication operations based on the tilt of the optoelectronic mounting platform (tilt angle not exceeding 3°), significantly reducing computational load and simplifying coding and implementation. The target indicator generation method of this invention features high accuracy and strong real-time performance. It is applicable to distributed radar and optoelectronic collaborative detection on different mounting platforms and can provide effective optoelectronic targets for high-speed moving targets, guiding optoelectronic devices to detect and track targets.

[0063] It should be noted that the descriptions of each embodiment in the above embodiments have different focuses. For parts that are not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0064] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0065] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0066] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0067] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0068] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including both the preferred embodiments and all changes and modifications falling within the scope of the invention.

[0069] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A method for generating target indicators based on radar system-guided optoelectronic devices, characterized in that, include: Acquire radar system detection information of the target at the three most recent historical moments. The detection information at each moment includes coordinate position information. Transform the coordinate position information detected at each moment into the northeast-central rectangular coordinate system. Based on the relative position information between the radar system and the optoelectronic equipment, the coordinate system is translated for the coordinate position information at each moment after conversion, and the position information of the northeast-sky rectangular coordinate system established with the optoelectronic equipment as the origin is obtained. Based on the target's position information in the Cartesian coordinate system at the three most recent historical moments, a uniform acceleration model is used to extrapolate the target's position and predict the target's position coordinates at the current moment. The estimated target's current position coordinates are combined with the roll angle of the optoelectronic equipment installation platform. and pitch angle Perform a Cartesian coordinate system rotation transformation to obtain the current position information of the target in the Cartesian coordinate system under the optoelectronic device carrier; The current position information of the target in the rectangular coordinate system under the optoelectronic device carrier is converted into the position information in the polar coordinate system with optoelectronic device as the carrier, and the polar coordinate position information is compensated for azimuth zero position to obtain the azimuth and elevation angle of the target relative to the optoelectronic device. The process involves combining the estimated target's current position coordinates with the roll angle of the optoelectronic equipment mounting platform. and pitch angle Perform a Cartesian coordinate system rotation transformation to obtain the target's current position information in the Cartesian coordinate system under the optoelectronic device carrier, including: ； in, The coordinates of the target's position in the Cartesian coordinate system under the optoelectronic device carrier at the current moment. This provides the target's current position in the northeast-central rectangular coordinate system. If the yaw angle of the mounting platform for the optoelectronic equipment With pitch angle If the angle value is within ±3°, then: ； The process of converting the current target's Cartesian coordinate system position information under the optoelectronic device carrier into polar coordinate system position information with the optoelectronic device as the carrier, and performing azimuth zero-position compensation on the polar coordinate position information to obtain the azimuth and elevation angles required for the target relative to the optoelectronic device includes: ； in, and These represent the azimuth and elevation angles required for the target relative to the optoelectronic equipment, respectively. This is the angle between the zero position of the photoelectric orientation and the north direction, with clockwise being positive. It is the difference between the nominal value of the photoelectric pitch zero position and the ground horizontal plane.

2. The method for generating an index according to claim 1, characterized in that, The acquisition of radar system detection information of the target at the three most recent historical moments, where the detection information at each moment includes coordinate position information, and the transformation of the detected coordinate position information at each moment to the northeast-central rectangular coordinate system, includes: When the radar system targets the target in history i The detection information at each time point is polar coordinate position information ( , , When the time interval is reached, the coordinate position information detected at each moment is transformed into the northeast-northeast rectangular coordinate system using the following formula: ； in, , , The radar system at historical moments i The azimuth, elevation, and slant range of the target being detected. , This is the angle between the radar system's azimuth zero point and the north direction, with clockwise being positive; Accordingly, the step of performing coordinate system translation on the coordinate position information at each moment after transformation based on the relative position information between the radar system and the optoelectronic device to obtain the position information in the northeast-central rectangular coordinate system established with the optoelectronic device as the origin includes: ； in, , , It refers to the radar coordinate position in the Northeast Celestial Rectangular Coordinate System established with the optoelectronic equipment as the origin.

3. The method for generating an index according to claim 1, characterized in that, When the radar system detects the target at every historical moment using Earth coordinate system information, the radar system's detection information at each moment is transformed using the Earth coordinate system location information of the optoelectronic device to obtain the Northeast Celestial Cartesian coordinate system location information established with the optoelectronic device as the origin. The Earth coordinate system information includes longitude, latitude, and altitude. Among them, according to the radar system in history i The horizontal projection distance of the target relative to the photoelectric device is obtained by taking the longitude and latitude of the target detected at each moment and the longitude and latitude of the target detected by the photoelectric device at the same moment. Information is obtained by measuring the relative photoelectric altitude of the target from the elevation of two points. And obtain the angle between the target and the north direction. Then, the position information of the target in the northeastern rectangular coordinate system established with the optoelectronic device as the origin is: ； in, , This represents the altitude of the target detected by the radar system. This represents the altitude of the location where the optoelectronic equipment is situated.

4. The method for generating an index according to claim 1, characterized in that, The step of extrapolating the target's position using a uniform acceleration model based on the target's position information in the Cartesian coordinate system at the three most recent historical moments, and predicting the target's position coordinates at the current moment, includes: ； in, , , These represent the coordinates of the radar system's detection information of the guided target at point B (the first most recent historical moment), point C (the second most recent moment), and point D (the most recent third most recent moment) in the Northeast-Sky Cartesian coordinate system after coordinate transformation. T 1 represents the time interval between detecting point B and detecting point C. T 2 represents the time interval between detecting point C and detecting point D. Let A be the time interval between point A at the current time and point B at the first most recent time. This is the estimated coordinate information of point A at the current moment.

5. A target pointing generation system for radar-guided optoelectronic devices, used to implement the target pointing generation method for radar-guided optoelectronic devices according to any one of claims 1-4, characterized in that, include: The first conversion module is used to acquire the radar system's detection information of the target at the three most recent historical moments. The detection information at each moment includes coordinate position information, and the coordinate position information detected at each moment is converted into the northeast-central rectangular coordinate system. The translation module is used to translate the coordinate system of the coordinate position information at each moment after conversion based on the relative position information between the radar system and the optoelectronic equipment, and obtain the position information of the northeast-sky rectangular coordinate system established with the optoelectronic equipment as the origin. The prediction module is used to extrapolate the target's position in the Cartesian coordinate system based on the target's position information in the three most recent historical moments, and to predict the target's position coordinate information at the current moment using a uniform acceleration model. The second conversion module is used to combine the estimated target's current position coordinates with the roll angle of the optoelectronic equipment installation platform. and pitch angle Perform a Cartesian coordinate system rotation transformation to obtain the current position information of the target in the Cartesian coordinate system under the optoelectronic device carrier; The third conversion module is used to convert the current position information of the target in the rectangular coordinate system under the photoelectric device carrier into the position information in the polar coordinate system with the photoelectric device as the carrier, and to perform azimuth zero compensation on the polar coordinate position information to obtain the azimuth and elevation angles of the target relative to the photoelectric device.

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