Radar guidance-based target smooth tracking method and device

Abstract

The invention discloses a target smooth tracking method and device based on radar guidance, and belongs to the technical field of sea surface target tracking. The method comprises the following steps: transferring a photoelectric device according to the position of a target detected by a radar to enable the target to be located in the field of view of the photoelectric device; if the photoelectric equipment detects the target, tracking the target by using a photoelectric guiding method; if the photoelectric equipment cannot detect the target, the moving speed of the target is obtained according to the radar, and the moving speed is projected to the polar coordinate system where the photoelectric equipment is located, so that the moving speed after projection is obtained; and controlling the photoelectric equipment to move according to the moving speed after projection to realize smooth tracking of the target. According to the method, a traditional radar guiding mode is improved, the radar guiding mode is changed into speed guiding from position guiding, the improved radar guiding mode is combined with a photoelectric guiding mode, the problem that a tracking picture of a target is paused by photoelectric equipment is solved, and the tracking picture is smoother.

Description

Technical Field

[0001] The present invention relates to the technical field of sea surface target tracking, and in particular to a radar-guided target smooth tracking method and device. Background Art

[0002] In related technologies, radar guidance technology is based on the radar system to obtain the target position. The radar outputs the actual position of the target after processing through the target fusion algorithm based on its own absolute position and the relative position of the captured target. The system calculates the azimuth and elevation angles that the optoelectronic tracking device needs to rotate based on the relative position relationship between the target and the optoelectronic device, and then mobilizes the optoelectronic device to point to the target. After the optoelectronic device achieves the initial tracking of the target, the azimuth and elevation angles that the optoelectronic device needs to rotate are continuously updated according to the radar's update of the target position, so as to achieve continuous tracking of the target by the optoelectronic device.

[0003] The position control accuracy of traditional optoelectronic equipment is usually no higher than 0.01°. For a target at a distance of 5km, the single adjustment distance is about 0.87 meters. During the optoelectronic tracking process, the system will continuously adjust the picture, and the image has a strong sense of segmentation.

[0004] In addition, the target update cycle of traditional radar systems is long, usually in seconds. When the target moves too fast or the field of view is small, the target usually cannot be retained in the picture for a long time.

[0005] In summary, due to the characteristics of traditional radar guidance systems, the tracking effect is usually poor, the picture shakes seriously, and the tracking video is discontinuous. When the target moves slowly, the problem is not obvious, but with the increase of the detection distance of optoelectronic equipment and the increase of the speed of sea surface targets, the original target tracking form is no longer competent for related tasks. Summary of the invention

[0006] The present invention provides a radar-guided target smooth tracking method and device, which can solve the problem of discontinuous tracking images in related technologies. The technical solution is as follows:

[0007] On the one hand, a method for smooth target tracking based on radar guidance is provided, the method comprising: mobilizing an optoelectronic device according to the position of a target detected by a radar so that the target is located within the field of view of the optoelectronic device; if the optoelectronic device detects the target, tracking the target using an optoelectronic guidance method; if the optoelectronic device cannot detect the target, obtaining a moving speed of the target according to the radar, and projecting the moving speed onto a polar coordinate system where the optoelectronic device is located to obtain a projected moving speed; controlling the movement of the optoelectronic device according to the projected moving speed to achieve smooth tracking of the target.

[0008] Optionally, the photoelectric guidance method includes: calculating the azimuth deviation angle and pitch deviation angle of the target relative to the photoelectric device based on the image captured by the photoelectric device; calculating the expected movement speed of the photoelectric device based on the azimuth deviation angle and pitch deviation angle; and controlling the rotation of the photoelectric device according to the expected movement speed of the photoelectric device.

[0009] Optionally, calculating the azimuth deviation angle and pitch deviation angle of the target relative to the optoelectronic device based on the image captured by the optoelectronic device includes: obtaining the azimuth deviation and pitch deviation of the target in the image relative to the center of the image based on the image captured by the optoelectronic device; and calculating the azimuth deviation angle and pitch deviation angle of the target in the image relative to the center of the image based on the azimuth deviation, the pitch deviation, and the size of the image.

[0010] Optionally, acquiring the moving speed of the target according to the radar includes: calculating the moving speed of the target according to positions of the target detected by the radar twice consecutively.

[0011] Optionally, the radar-guided target smooth tracking method further includes: searching for target features from a database according to target information carried in a search command; and tracking the target using an optoelectronic guidance method if the optoelectronic device is able to detect and identify the target.

[0012] Optionally, the radar-guided target smooth tracking method further includes: comparing the target detected by the radar with the target detected by the optoelectronic device; and judging whether the target tracked by the optoelectronic device is a correct target based on the comparison result.

[0013] On the other hand, a target smooth tracking device based on radar guidance is provided, and the device includes: a position guidance unit, suitable for mobilizing the optoelectronic device according to the position of the target detected by the radar, so that the target is located within the field of view of the optoelectronic device; a photoelectric guidance unit, suitable for tracking the target by using a photoelectric guidance method if the optoelectronic device detects the target; a radar guidance unit, suitable for obtaining the moving speed of the target according to the radar if the optoelectronic device cannot detect the target, and projecting the moving speed to the polar coordinate system where the optoelectronic device is located to obtain the projected moving speed; a control unit, suitable for controlling the movement of the optoelectronic device according to the projected moving speed to achieve smooth tracking of the target.

[0014] On the other hand, a computer device is provided, which includes a memory and a processor, wherein the memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory to implement the steps of the above-mentioned radar-guided target smooth tracking method.

[0015] On the other hand, a computer-readable storage medium is provided, wherein a computer program is stored in the storage medium, and when the computer program is executed by a processor, the steps of the above-mentioned radar-guided target smooth tracking method are implemented.

[0016] On the other hand, a computer program product is provided, comprising a computer program, wherein when the computer program is executed by a processor, the steps of the above-mentioned radar-guided target smooth tracking method are implemented.

[0017] The technical solution provided by the present invention can at least bring about the following beneficial effects: the present invention improves the traditional radar guidance method, changes the radar guidance method from position guidance to speed guidance, combines the improved radar guidance method with the photoelectric guidance method, solves the problem of the photoelectric device's tracking image of the target, and makes the tracking image smoother. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 This is a flow chart of a target smooth tracking method based on radar guidance provided by one embodiment of the present invention;

[0020] Figure 2 is a flow chart of a photoelectric guidance method provided by an embodiment of the present invention;

[0021] Figure 3 is a flow chart of a radar guidance method provided by an embodiment of the present invention;

[0022] Figure 4 This is a schematic diagram of a radar-guided target smooth tracking method provided by an embodiment of the present invention;

[0023] Figure 5 It is a structural diagram of a target smooth tracking device based on radar guidance provided by one embodiment of the present invention;

[0024] Figure 6 It is a hardware architecture diagram of a computer device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0026] As mentioned above, the traditional radar guidance method has low position control accuracy of the optoelectronic device and a long target update cycle of the radar system, which leads to discontinuous target tracking images of the optoelectronic device. In order to solve or alleviate this problem, the embodiment of the present application provides a radar-guided target smooth tracking method, which changes the guidance method of the optoelectronic device to speed guidance to achieve smooth tracking of the target.

[0027] The specific implementation of the above concept is described below.

[0028] Please refer to Figure 1 , an embodiment of the present invention provides a radar-guided target smooth tracking method, the method comprising:

[0029] Step 101, mobilizing the optoelectronic device according to the position of the target detected by the radar, so that the target is within the field of view of the optoelectronic device;

[0030] Step 102, if the optoelectronic device can detect the target, then track the target using an optoelectronic guidance method;

[0031] Step 103, if the optoelectronic device cannot detect the target, obtain the moving speed of the target according to the radar, and project the moving speed to the polar coordinate system where the optoelectronic device is located to obtain the projected moving speed;

[0032] Step 104: Control the movement of the optoelectronic device according to the projected moving speed to achieve smooth tracking of the target.

[0033] Described below Figure 1 How the various steps are performed.

[0034] First, with respect to step 101 , the optoelectronic device is mobilized according to the position of the target detected by the radar so that the target is located within the field of view of the optoelectronic device.

[0035] In this step, the target is first detected by radar, and the specific location (latitude and longitude) of the target is determined based on the detection results. Then the turntable of the optoelectronic device is mobilized so that the turntable drives the lens of the optoelectronic device to rotate, thereby allowing the target to enter the field of view of the optoelectronic device, thereby achieving a large-scale observation of the target area.

[0036] In addition, the system can also initiate guidance through search commands. For example, the user enters information such as the target call sign and target name in the system. The system will retrieve the target's appearance features (also called additional features) from the database based on this information and then initiate guidance. Taking a ship at sea as an example, the user can enter information such as the ship's call sign and / or ship name. The system will search the database based on this information to obtain the appearance features of the ship that match the user's input information. The appearance features can be, for example, the color, length, ship type, etc. of the ship, in preparation for subsequent steps.

[0037] Then, for step 102, if the optoelectronic device detects the target, the optoelectronic guidance method is used to track the target. Figure 2 .

[0038] When a target appears within the field of view of the optoelectronic device, the video target recognition algorithm can be called to identify the target within the field of view based on the retrieved appearance features. If a target is identified that matches the retrieved appearance features, the optoelectronic guidance method is used to track the target.

[0039] When using optoelectronic guidance, the system first selects the target according to the range of the identified target in the image, and uses the center of the target frame as the target position. In pixels, the azimuth deviation and pitch deviation of the target position from the center of the image are dx and dy respectively. According to the picture information, the picture frame can be obtained as px multiplied by px. According to the lens information, the current field of view angle can be obtained as α. Then, the deviation of the target relative to the lens can be calculated. The deviation includes the optoelectronic azimuth deviation angle and the optoelectronic pitch deviation angle. The expected movement speed of the lens is calculated based on the deviation. The lens rotation is controlled according to the expected movement speed of the lens to complete smooth target tracking.

[0040] Among them, the optoelectronic azimuth deviation angle and the optoelectronic pitch deviation angle are also called miss-target amounts.

[0041] Photoelectric azimuth deviation angle γ x The calculation formula is:

[0042]

[0043] Photoelectric pitch deviation angle γ y The calculation formula is:

[0044]

[0045] In the formula, k x and k y are the horizontal aspect ratio coefficient and vertical aspect ratio coefficient of the lens respectively. For the commonly used 16:9 lens, the horizontal aspect ratio coefficient is The vertical aspect ratio factor is

[0046] Next, the projection velocity f(γ x ) and f(γ y ), the function f(·) is the deviation-target response function, which is used to describe the corresponding relationship between the deviation and the target response in the photoelectric tracking algorithm.

[0047] The calculated projection speed is sent to the PID controller as the expected moving speed of the optoelectronic device turntable to realize the control of the optoelectronic device turntable.

[0048] Then, for step 103, if the optoelectronic device cannot detect the target, the moving speed of the target is obtained according to the radar, and the moving speed is projected into the polar coordinate system where the optoelectronic device is located to obtain the projected moving speed. Figure 3 .

[0049] In this step, the system first determines the field of view of the optoelectronic device based on the longitude, azimuth, pitch angle, field of view and other parameters of the optoelectronic device itself, and determines whether the target exists in the field of view of the optoelectronic device based on the longitude and latitude and other position parameters of the target given by the radar. If the target has moved out of the field of view of the optoelectronic device, the angle of the lens of the optoelectronic device is adjusted by position guidance so as to move the target into the field of view of the optoelectronic device. If the target is already within the current field of view of the optoelectronic device, the target movement speed is calculated based on the position difference (dx, dy) between the two updates of the target by the radar and the target update time. The two updates of the target here refer to the position of the target detected by the radar twice in a row. The target movement speed is calculated based on the position difference between the two adjacent detections and the time interval between the two adjacent detections. The target movement speed is then projected into the polar coordinate system where the optoelectronic device is located to obtain the projected movement speed.

[0050] The target position obtained by the radar detecting the target at time t is:

[0051]

[0052] Then the position difference of the target obtained at time t and time t+1 is:

[0053]

[0054] Then the target moving speed at time t+1 is:

[0055]

[0056] Project the target moving speed to obtain the projected azimuth speed v x (t) is the pitch velocity v after projection y (t) are:

[0057]

[0058] Where x(t) is the function of the target position's horizontal coordinate with respect to time t, and y(t) is the function of the target position's vertical coordinate with respect to time t.

[0059] Then, for step 104, the movement of the optoelectronic device is controlled according to the projected moving speed to achieve smooth tracking of the target.

[0060] The projected azimuth velocity v x (t) is the pitch velocity v after projection y (t) is sent to the PID controller as the expected moving speed of the optoelectronic device turntable. The output of the PID controller can also be smoothed by using a sliding window and a linear interpolation method to achieve smooth control of the optoelectronic device turntable, complete smooth rotation of the lens, and realize a smooth radar guidance function.

[0061] It should be noted that only one of step 102 (photoelectric guidance) and step 103 (radar guidance) can be executed. When executing step 103, it is necessary to determine whether the photoelectric device can detect the target in each cycle of the radar scan.

[0062] In addition, the target's moving direction and speed can be obtained based on the radar's detection results of the target, and the target's moving direction and speed can also be obtained based on the optoelectronic device's tracking results of the target. The radar's detection results of the target are compared with the optoelectronic device's tracking results of the target on a regular basis, specifically to compare whether the moving direction and moving speed are consistent, so as to determine whether the target tracked by the optoelectronic device is the correct target. For example, for the same target, the optoelectronic device's tracking result of the target is moving eastward, while the radar's detection result of the target is moving westward, that is, the moving directions are inconsistent, so it can be considered that the optoelectronic device is tracking the wrong target. At this time, the target tracking process should be interrupted, and the video target recognition algorithm should be re-called to identify the target within the field of view to ensure that the system will not track the wrong target for a long time due to the optoelectronic device's misidentification of the target.

[0063] According to the above steps 101 to 104, the principle of the radar-guided target smooth tracking method of the embodiment of the present application is as follows: Figure 4As shown. First, the guidance is initiated. For example, the user enters the ship's call sign and ship name in the system, and then the system initiates the guidance. Check whether the target is in the field of view of the optoelectronic device. If not, call the position control according to the position of the target detected by the radar to guide the optoelectronic device turntable to rotate so that the target appears in the field of view of the optoelectronic device. Then call the target recognition algorithm to identify the target within the field of view of the optoelectronic device. If the characteristics of the target are consistent with the call sign and ship name entered by the user, the optoelectronic guidance method is used to control the optoelectronic device to track the target. If the target recognition algorithm does not identify the target, the radar guidance method is used. The optoelectronic guidance method calculates the projection speed according to the target's miss amount in the field of view, and inputs the projection speed as the expected moving speed of the turntable into the PID controller. The turntable is controlled by the PID controller to complete the smooth tracking of the target. The radar guidance method calculates the projection speed according to the target's speed, heading, target position, and the distance moved by the target at two adjacent moments. The projection speed is input into the PID controller as the expected moving speed of the turntable. The turntable is controlled by the PID controller to complete the smooth tracking of the target. After the PID controller, a sliding window and a linear interpolation method can be added to smooth the speed of the PID controller output, making the target tracking process smoother.

[0064] In summary, the radar-guided target smooth tracking method of the embodiment of the present application first uses position guidance to complete the large-scale transfer of optoelectronic azimuth and pitch; when the target enters the field of view of the optoelectronic device, it is determined whether to use optoelectronic tracking based on the identification of the target by the optoelectronic device; if the target can be identified by the optoelectronic device, the video target tracking function is enabled to continue tracking the target; if the target is not identified by the optoelectronic device, the radar guidance state is maintained. The system calculates the azimuth speed and pitch speed of the target movement speed in the polar coordinate system of the optoelectronic device in real time based on information such as the target movement speed and direction, and inputs the calculation result as the expected movement speed of the turntable into the PID controller, and uses the sliding window and linear interpolation method to smooth the speed output by the PID controller. Finally, the smoothed speed is assigned to the front-end device to complete the smooth guidance of the optoelectronic device. The above method can improve the smoothing effect of the small-scale guidance process and reduce the image frustration while ensuring the fast large-scale guidance process.

[0065] Please refer to Figure 5 An embodiment of the present invention provides a target smooth tracking device based on radar guidance, which includes: a position guidance unit 501, a photoelectric guidance unit 502, a radar guidance unit 503 and a control unit 504.

[0066] The position guiding unit 501 is adapted to mobilize the optoelectronic device according to the position of the target detected by the radar, so that the target is located within the field of view of the optoelectronic device.

[0067] The optoelectronic guidance unit 502 is adapted to track the target using an optoelectronic guidance method if the optoelectronic device detects the target.

[0068] The radar guidance unit 503 is adapted to obtain the moving speed of the target according to the radar if the optoelectronic device cannot detect the target, and project the moving speed into the polar coordinate system where the optoelectronic device is located to obtain the projected moving speed.

[0069] The control unit 504 is adapted to control the movement of the optoelectronic device according to the projected moving speed, so as to achieve smooth tracking of the target.

[0070] As a preferred embodiment of the present application, the photoelectric guidance method includes:

[0071] Calculating an azimuth deviation angle and a pitch deviation angle of the target relative to the optoelectronic device based on the image collected by the optoelectronic device;

[0072] Calculating the expected movement speed of the optoelectronic device according to the azimuth deviation angle and the pitch deviation angle; and

[0073] The optoelectronic device is controlled to rotate according to the expected movement speed of the optoelectronic device.

[0074] As a preferred embodiment of the present application, the step of calculating the azimuth deviation angle and the pitch deviation angle of the target relative to the optoelectronic device based on the image collected by the optoelectronic device includes:

[0075] Acquire, based on the image collected by the optoelectronic device, an azimuth deviation and a pitch deviation of a target in the image relative to the center of the image; and

[0076] The azimuth deviation, the pitch deviation, and the size of the image are combined to calculate an azimuth deviation angle and a pitch deviation angle of the target in the image relative to the center of the image.

[0077] As a preferred embodiment of the present application, obtaining the moving speed of the target according to the radar includes:

[0078] The moving speed of the target is calculated according to the positions of the target detected by the radar twice in succession.

[0079] As a preferred embodiment of the present application, the device further includes:

[0080] A retrieval unit, adapted to search for target features from a database according to target information carried in a search command;

[0081] If the optoelectronic device is able to detect and identify the target, the optoelectronic guidance method is used to track the target.

[0082] As a preferred embodiment of the present application, the device further includes:

[0083] a comparison unit, adapted to compare the target detected by the radar with the target detected by the optoelectronic device; and

[0084] The judging unit is adapted to judge whether the target tracked by the optoelectronic device is a correct target according to the comparison result.

[0085] It should be noted that: the radar-guided target smooth tracking device provided in the above embodiment is only illustrated by the division of the above functional modules. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the radar-guided target smooth tracking device provided in the above embodiment and the radar-guided target smooth tracking method embodiment belong to the same concept. The specific implementation process is detailed in the method embodiment, which will not be repeated here.

[0086] The embodiment of the present application also provides a computer device, please refer to Figure 6 The computer device includes a processor and a memory, wherein at least one instruction, at least one program, a code set or an instruction set is stored in the memory, and the at least one instruction, at least one program, a code set or an instruction set is loaded and executed by the processor to implement the radar-guided target smooth tracking method provided in the above-mentioned method embodiments.

[0087] An embodiment of the present application also provides a computer-readable storage medium, on which is stored at least one instruction, at least one program, code set or instruction set, and the at least one instruction, at least one program, code set or instruction set is loaded and executed by a processor to implement the radar-guided target smooth tracking method provided in the above-mentioned method embodiments.

[0088] An embodiment of the present application also provides a computer program product, which includes a computer program. A processor of a computer device reads the computer program from a computer-readable storage medium, and the processor executes the computer program, so that the computer device executes any of the radar-guided target smooth tracking methods described in the above embodiments.

[0089] For the convenience of description, the above system or device is described by dividing it into various modules or units according to its functions. Of course, when implementing the present application, the functions of each unit can be implemented in the same or multiple software and / or hardware.

[0090] It can be known from the description of the above implementation methods that those skilled in the art can clearly understand that the present application can be implemented by means of software plus a necessary general hardware platform. Based on such an understanding, the technical solution of the present application can be essentially or partly contributed to the prior art in the form of a software product, which can be stored in a storage medium such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in the various embodiments of the present application or certain parts of the embodiments.

[0091] Finally, it should be noted that, in this article, relational terms such as first, second, third and fourth are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0092] The above is only a preferred embodiment of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A radar-guided target smooth tracking method, characterized in that: The method comprises: mobilizing the optoelectronic device according to the position of the target detected by the radar so that the target is within the field of view of the optoelectronic device; If the optoelectronic device detects the target, tracking the target using an optoelectronic guidance method; If the optoelectronic device cannot detect the target, the moving speed of the target is obtained according to the radar, and the moving speed is projected into the polar coordinate system where the optoelectronic device is located to obtain the projected moving speed; The movement of the optoelectronic device is controlled according to the moving speed after the projection to achieve smooth tracking of the target.

2. The method according to claim 1, characterized in that The photoelectric guidance method comprises: Calculating an azimuth deviation angle and a pitch deviation angle of the target relative to the optoelectronic device based on the image collected by the optoelectronic device; Calculating the expected movement speed of the optoelectronic device according to the azimuth deviation angle and the pitch deviation angle; and The optoelectronic device is controlled to rotate according to the expected movement speed of the optoelectronic device.

3. The method according to claim 2, characterized in that Calculating the azimuth deviation angle and the elevation deviation angle of the target relative to the optoelectronic device according to the image collected by the optoelectronic device comprises: Acquire, based on the image collected by the optoelectronic device, an azimuth deviation and a pitch deviation of a target in the image relative to the center of the image; and The azimuth deviation, the pitch deviation, and the size of the image are combined to calculate an azimuth deviation angle and a pitch deviation angle of the target in the image relative to the center of the image.

4. The method according to claim 1, characterized in that The acquiring the moving speed of the target according to the radar comprises: The moving speed of the target is calculated according to the positions of the target detected by the radar twice in succession.

5. The method according to claim 1, characterized in that Also includes: According to the target information carried by the search command, the target features are searched from the database; If the optoelectronic device is able to detect and identify the target, the optoelectronic guidance method is used to track the target.

6. The method according to claim 1, characterized in that Also includes: comparing the target detected by the radar with the target detected by the optoelectronic device; as well as It is determined based on the comparison result whether the target tracked by the optoelectronic device is a correct target.

7. A target smooth tracking device based on radar guidance, characterized in that: The device comprises: A position guidance unit, adapted to mobilize the optoelectronic device according to the position of the target detected by the radar so that the target is within the field of view of the optoelectronic device; an optoelectronic guidance unit adapted to track the target using an optoelectronic guidance method if the optoelectronic device detects the target; a radar guidance unit adapted to obtain a moving speed of the target according to the radar if the optoelectronic device cannot detect the target, and project the moving speed onto a polar coordinate system where the optoelectronic device is located to obtain a projected moving speed; The control unit is adapted to control the movement of the optoelectronic device according to the moving speed after the projection, so as to achieve smooth tracking of the target.

8. A computer device, characterized in that: The computer device includes a memory and a processor, the memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory to implement the steps of any one of the methods described in claims 1-6.

9. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method described in any one of claims 1 to 6 are implemented.

10. A computer program product, characterized in that The method comprises a computer program, wherein when the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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