A target positioning method, device and storage medium based on sonar system

Abstract

This specification discloses a target positioning method, device and storage medium based on a sonar system. In response to a target point marked by a user on an azimuth history map, a preset angle closest to the recorded sheer angle of the detection target corresponding to the target point is determined as the estimated sheer angle, and the left adjacent sheer angle and the right adjacent sheer angle adjacent to the estimated sheer angle on the left and right sides are determined. According to the signal strength corresponding to the estimated sheer angle, the signal strength corresponding to the left adjacent sheer angle and the signal strength corresponding to the right adjacent sheer angle, the error correction direction and the correction coefficient of the estimated sheer angle are determined. The estimated sheer angle is corrected according to the correction coefficient and the azimuth resolution corresponding to the estimated sheer angle. In this method, the sheer angle corresponding to the user's recording moment is not directly used as the actual sheer angle, but the azimuth at which the actual signal of the detection target received is the strongest is predicted to determine the actual sheer angle, thereby reducing the sheer angle error caused by the limitation of the azimuth resolution and being able to more accurately locate the detection target based on the actual sheer angle.

Description

Technical Field

[0001] This specification relates to the field of computer technology, and in particular to a target positioning method, device, and storage medium based on a sonar system. Background Art

[0002] Sonar is a device that detects and locates underwater targets by receiving sound wave signals from underwater objects. Sonar operators identify and locate targets based on the sound wave signals detected by the sonar.

[0003] After receiving a sound wave signal, sonar records detection data such as the time of arrival, signal strength, and side angle. A bearing history chart is a common way to record and display sonar detection data. In a bearing history chart, time is used as the horizontal axis, side angle is used as the vertical axis, and signal strength is represented by grayscale.

[0004] The bearing recorded by sonar is relative to the ship or sonar detector, known as the broadside. Broadside is a relative bearing, relative to the ship's position. After locking onto a target, the sonar operator must record the target's presence at a specific moment and its broadside at that moment on the bearing history chart. Based on the broadside, the operator then calculates the target's absolute bearing relative to true north, known as its true bearing, and reports it.

[0005] Azimuth resolution refers to the angular interval between the sound wave signals of two targets that the sonar can distinguish. Due to the limitation of the azimuth resolution of the sonar itself, the sonar detector can only receive sound wave signals at specific angles, so the sonar can only detect targets from these specific angles. Figure 1 This is a sonar positioning principle diagram provided in this manual. Figure 1 The center position in the figure represents the sonar detector, and the dotted line represents the specific angle at which the sound wave signal can be received. Figure 1 As shown, when performing target positioning in the prior art, when the target is at point A, the sonar receives the target's sound wave signals in the l1 direction and the l2 direction. Because the target is closer to the l1 direction, the signal strength received in the l1 direction is stronger, and the sonar determines the target's side angle based on the l1 direction.

[0006] Therefore, there is an error between the side angle of the target determined in the prior art and the actual direction of the target, and the true direction determined by the side angle is also inconsistent with the actual direction, resulting in inaccurate target positioning. Therefore, this specification provides a target positioning method based on a sonar system. Summary of the Invention

[0007] This specification provides a target positioning method, device, storage medium and electronic device based on a sonar system to at least partially solve the above-mentioned problems existing in the prior art.

[0008] This manual adopts the following technical solutions:

[0009] This manual provides a target positioning method based on a sonar system, including:

[0010] In response to a target point marked by a user on a azimuth history graph, determining a recording time and a recording side angle of the target point corresponding to a detected target;

[0011] Determining, among various preset angles at which the sonar system can detect signals, a preset angle closest to the recorded side angle as the estimated side angle of the detected target;

[0012] Determine, from among the preset angles, preset angles adjacent to the estimated side angle on both sides as the left adjacent side angle and the right adjacent side angle, respectively, and determine, at the recording time, the signal strength corresponding to the estimated side angle, the signal strength corresponding to the left adjacent side angle, and the signal strength corresponding to the right adjacent side angle;

[0013] determining an error correction direction of the estimated side angle according to a magnitude relationship between the signal strength corresponding to the left adjacent side angle and the signal strength corresponding to the right adjacent side angle; determining a correction coefficient of the estimated side angle according to the signal strength corresponding to the estimated side angle, the signal strength corresponding to the left adjacent side angle, and the signal strength corresponding to the right adjacent side angle;

[0014] determining an azimuth resolution corresponding to the estimated side angle, and determining an error side angle according to a product of the azimuth resolution and the correction coefficient;

[0015] According to the error correction direction and based on the error side angle, the estimated side angle is corrected to obtain the actual side angle, and the target is positioned based on the actual side angle.

[0016] Optionally, determining a correction coefficient for the estimated side angle according to the signal strength corresponding to the estimated side angle, the signal strength corresponding to the left adjacent side angle, and the signal strength corresponding to the right adjacent side angle specifically includes:

[0017] When the signal strength corresponding to the left adjacent port angle is greater than the signal strength corresponding to the right adjacent port angle, determining a correction coefficient according to a ratio of the signal strength corresponding to the left adjacent port angle to the sum of the signal strength corresponding to the estimated port angle and the signal strength corresponding to the left adjacent port angle;

[0018] When the signal strength corresponding to the left adjacent port angle is less than the signal strength corresponding to the right adjacent port angle, determining a correction coefficient according to a ratio of the signal strength corresponding to the right adjacent port angle to the sum of the signal strength corresponding to the estimated port angle and the signal strength corresponding to the right adjacent port angle;

[0019] When the signal strength corresponding to the left adjacent port angle is equal to the signal strength corresponding to the right adjacent port angle, the correction coefficient is determined to be zero.

[0020] Optionally, determining the azimuth resolution corresponding to the estimated broadside angle specifically includes:

[0021] Taking the difference between the left adjacent sheer angle and the estimated sheer angle as a first interval angle, and taking the difference between the right adjacent sheer angle and the estimated sheer angle as a second interval angle;

[0022] Determine an average of the first interval angle and the second interval angle as the azimuth resolution corresponding to the estimated side angle.

[0023] Optionally, performing target positioning according to the actual side angle specifically includes:

[0024] Determine the actual heading based on the heading measured by the ship's heading sensor;

[0025] determining the true bearing of the detected target according to the actual heading and the actual side angle;

[0026] Target positioning is performed according to the true orientation of the detected target.

[0027] Optionally, determining the estimated array direction according to the array directions measured by each array direction sensor specifically includes:

[0028] Calculate the mean and standard deviation of the measured array direction of each array direction sensor,

[0029] Determine the screening range according to the mean and the standard deviation;

[0030] Determining, among the measurement array directions of the array direction sensors, the measurement array directions that meet the screening range as the regular data;

[0031] Determine the mean of the conventional data as the estimated array direction.

[0032] Optionally, determining the actual heading according to the heading measured by the heading sensor of the ship specifically includes:

[0033] Determining an estimated array direction based on the array directions measured by each array direction sensor included in the sonar system;

[0034] The actual heading is determined according to the estimated array heading and the measured heading.

[0035] Optionally, performing target positioning according to the actual side angle specifically includes:

[0036] At the recording time, determining the distance between the equivalent acoustic center of the sonar system and the ship positioning system and the latitude and longitude of the ship;

[0037] determining the longitude and latitude of the equivalent acoustic center of the sonar system based on the distance, the longitude and latitude of the ship, and the actual heading;

[0038] Target positioning is performed based on the longitude and latitude of the equivalent sound center of the sonar system and the true bearing of the detected target.

[0039] This specification provides a target positioning device based on a sonar system, the device comprising:

[0040] A recording module, in response to a target point marked by a user on the azimuth history map, determines a recording time and a recording side angle of the target point corresponding to the detected target;

[0041] an estimated side angle determination module, which determines, among various preset angles at which the sonar system can detect signals, a preset angle closest to the recorded side angle as the estimated side angle of the detected target;

[0042] an adjacent sheer angle determination module, which determines, from the preset angles, the preset angles adjacent to the estimated sheer angle on the left and right sides as the left adjacent sheer angle and the right adjacent sheer angle, respectively, and determines, at the recording time, the signal strength corresponding to the estimated sheer angle, the signal strength corresponding to the left adjacent sheer angle, and the signal strength corresponding to the right adjacent sheer angle;

[0043] a correction coefficient determination module, determining an error correction direction of the estimated side angle according to a magnitude relationship between the signal strength corresponding to the left adjacent side angle and the signal strength corresponding to the right adjacent side angle; and determining a correction coefficient of the estimated side angle according to the signal strength corresponding to the estimated side angle, the signal strength corresponding to the left adjacent side angle, and the signal strength corresponding to the right adjacent side angle;

[0044] an error sheer angle determination module, which determines an azimuth resolution corresponding to the estimated sheer angle, and determines the error sheer angle according to the product of the azimuth resolution and the correction coefficient;

[0045] The positioning module corrects the estimated side angle according to the error correction direction and the error side angle to obtain the actual side angle, and performs target positioning according to the actual side angle.

[0046] This specification provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it implements the above-mentioned target positioning method based on the sonar system.

[0047] This specification provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the target positioning method based on the sonar system is implemented.

[0048] At least one of the above technical solutions adopted in this specification can achieve the following beneficial effects:

[0049] In the target positioning method based on a sonar system provided in this specification, in response to a target point marked by a user on a bearing history graph, the recording time and recorded side angle of the detected target corresponding to the target point are determined. Among the preset angles at which the sonar system can detect signals, the preset angle closest to the recorded side angle is determined as the estimated side angle of the detected target. Among the preset angles, the preset angles adjacent to the estimated side angle on the left and right sides are determined as the left and right adjacent side angles, respectively. The signal strengths corresponding to the estimated side angle, the left and right adjacent side angles at the recording time are determined. An error correction direction for the estimated side angle is determined based on the relationship between the signal strengths corresponding to the left and right adjacent side angles. A correction coefficient for the estimated side angle is determined based on the signal strengths corresponding to the estimated side angle, the left and right adjacent side angles. A azimuth resolution corresponding to the estimated side angle is determined, and an error side angle is determined based on the product of the azimuth resolution and the correction coefficient. The estimated side angle is corrected based on the error side angle according to the error correction direction.

[0050] This method does not directly use the side angle corresponding to the user's recording moment as the actual side angle. Instead, it predicts the direction where the actual signal of the detected target is the strongest to determine the actual side angle, thereby reducing the side angle error caused by the limitation of the azimuth resolution and being able to more accurately locate the detected target based on the actual side angle. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] The drawings described herein are used to provide a further understanding of this specification and constitute a part of this specification. The exemplary embodiments and descriptions of this specification are used to explain this specification and do not constitute an improper limitation of this specification. In the drawings:

[0052] Figure 1 This is a sonar positioning principle diagram provided in this manual;

[0053] Figure 2 This is a flowchart of a target positioning method based on a sonar system in this specification;

[0054] Figure 3 This is a schematic diagram of a side angle correction principle provided in an embodiment of this specification;

[0055] Figure 4 A schematic diagram of a target positioning device based on a sonar system provided in this manual;

[0056] Figure 5 The corresponding Figure 1 Schematic diagram of electronic equipment. DETAILED DESCRIPTION

[0057] To make the purpose, technical solutions, and advantages of this specification more clear, the technical solutions of this specification will be clearly and completely described below in conjunction with the specific embodiments of this specification and the corresponding drawings. Obviously, the embodiments described are only part of the embodiments of this specification, not all of the embodiments. Based on the embodiments in this specification, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of this application.

[0058] The technical solutions provided by the embodiments of this specification are described in detail below with reference to the accompanying drawings.

[0059] Figure 2 The following is a flow chart of a target positioning method based on a sonar system in this specification, which specifically includes the following steps:

[0060] S100: In response to a target point marked by a user on a position history map, determining a recording time and a recording side angle of the target point corresponding to a detected target.

[0061] All steps in the sonar-based target positioning method provided in this specification can be implemented by any electronic device with computing capabilities, such as a terminal or server. For ease of description, the following description of the sonar-based target positioning method will be based solely on the server.

[0062] The sonar operator monitors the acoustic signals detected by the sonar system and performs spectrum analysis and other operations on them to identify acoustic signals that may be from the target. The sonar operator can then locate the target at any time after the target's acoustic signal appears, based on the azimuth map.

[0063] Due to the propagation characteristics of sound waves, after leaving the source, they diffuse and gradually attenuate. A single sound wave signal can be detected by the sonar system both in the direction of the sound source and within an angular range near that direction. Because the signal strength of the sound wave detected in the direction of the sound source is the strongest, the direction where the sonar system detects the strongest signal strength is the direction of the target.

[0064] Because the signal strength is represented by grayscale on the azimuth history diagram, the sonar operator can visually observe the position with the largest grayscale within the angular range where the sound wave signal is detected on the azimuth history diagram and mark it as the target point.

[0065] Then, the server responds to the target point marked by the sonar operator, determines the recording time corresponding to the target point according to the horizontal coordinate corresponding to the target point, and determines the recording side angle corresponding to the target point according to the vertical coordinate corresponding to the target point.

[0066] The recording moment is the moment when the sonar operator needs to locate the direction of the detection target. The recording side angle is determined by the sonar operator visually observing the grayscale level, which is the rough estimated direction of the detection target at the recording moment.

[0067] S102: Determine, among various preset angles at which the sonar system can detect signals, a preset angle that is closest to the recorded side angle as the estimated side angle of the detected target.

[0068] Due to the resolution of the display device, the recording side angle determined by the sonar operator may not be the location where the sonar system measures the strongest signal strength of the target's acoustic signal. However, the location corresponding to the recording side angle should be close to the location where the sonar system measures the strongest signal strength of the target's acoustic signal.

[0069] Therefore, in order to eliminate the side angle error caused by target point positioning, the server determines the preset angle closest to the recorded side angle among the preset angles at which the sonar system can detect signals, as the estimated side angle of the detected target.

[0070] The preset angles represent the broadside angles at which the sonar system can detect a target. Due to differences in the sonar system's design and signal processing algorithms, the preset angles at which the sonar system can detect signals may be evenly or unevenly distributed.

[0071] For example, if the preset angles of a sonar system are evenly distributed and the angle interval is 1°, it means that the sonar system can detect targets in all directions with an integer degree sideways angle around itself; if the preset angles of a sonar system are unevenly distributed, the preset angles of the sonar may include 80°, 85°, 87°, and 90°, then the sonar system can detect targets with an angle of 80°, 85°, 87°, and 90° around itself.

[0072] S104: Among the preset angles, determine the preset angles adjacent to the estimated port angle on the left and right sides, as the left adjacent port angle and the right adjacent port angle, respectively, and determine the signal strength corresponding to the estimated port angle, the signal strength corresponding to the left adjacent port angle, and the signal strength corresponding to the right adjacent port angle at the recording moment.

[0073] Due to the limitation of azimuth resolution, the side angle of the target detected by the sonar system with the strongest signal strength may not be the side angle corresponding to the actual azimuth of the target.

[0074] For example, if the sonar system's preset angles are evenly distributed with an interval of 1°, and the target's actual bearing corresponds to a broadside angle of 30.1°, the closest beam angle to 30.1° is at a 30° angle among the beam angles detectable by the sonar system. Therefore, the sonar system will use 30° as the estimated beam angle of the target, given that the peak of the acoustic signal detected by the sonar system is at a 30° beam angle. However, the actual beam angle of the target's acoustic signal source should be at a 30.1° beam angle.

[0075] Due to the propagation characteristics of sound waves, the sound wave signal is usually detected by the sonar at multiple preset angles. However, due to signal attenuation, the signal strength of the sound wave signal detected at each preset angle is different.

[0076] For the estimated side angle, the sonar system can also detect the sound wave signal at the preset angles on both sides of the estimated side angle at the recording time, but the signal strength of the sound wave signal detected at the preset angles on both sides of the estimated side angle is lower than the signal strength corresponding to the estimated side angle.

[0077] For other preset angles at which the acoustic signal is detected, the signal strength of the acoustic signal detected at the preset angle is correlated with the angular difference between the other preset angle and the preset angle corresponding to the estimated side angle. That is, the greater the angular difference from the preset angle corresponding to the estimated side angle, the weaker the detected signal strength, and the smaller the angular difference from the preset angle corresponding to the estimated side angle, the stronger the detected signal strength.

[0078] The server can use the preset angle at which the target signal is detected and the signal strength detected at the angle as two related quantities, fit the actual peak of the sound wave signal, and predict the actual angle corresponding to the actual peak.

[0079] Specifically, the server determines, from each preset angle, the preset angles adjacent to the estimated side angle on both sides, as the left adjacent side angle and the right adjacent side angle, respectively. The server then determines the signal strength corresponding to the estimated side angle, the signal strength corresponding to the left adjacent side angle, and the signal strength corresponding to the right adjacent side angle at the time of recording.

[0080] Taking the sheer angle and signal strength as correlations, three data points can be determined. Let the estimated sheer angle be θ p , the estimated signal strength corresponding to the side angle is The left adjacent angle is θ l , the signal strength corresponding to the left adjacent angle is The right adjacent angle is θ r , the signal strength corresponding to the right adjacent starboard angle is The three data points are and

[0081] The server can perform peak fitting based on the geometric relationship of these three data points to determine the actual peak point to obtain the accurate side angle of the detected target. The position relationship of the three data points can be as follows: Figure 3 As shown, Figure 3 This is a schematic diagram of the side angle correction principle provided in an embodiment of this specification, where point A represents the target position determined by the sonar system, and points B and C are the target positions of the sonar system at the left adjacent side angle and the right adjacent side angle, respectively. It can be seen that the signal strength at point A is higher than that at points B and C, but due to the limitation of azimuth resolution, the actual side angle where the detected target is located may not be point A.

[0082] Figure 3 The dotted line connecting points A, B, and C is obtained by fitting A, B, and C. It can be seen that according to the geometric relationship, Figure 3 The position indicated by the middle triangle should be the position where the actual signal strength is the strongest, that is, the position indicated by the triangle is the sound source position of the sound wave signal, that is, the actual location of the detection target.

[0083] Therefore, based on the signal strength detected at the preset angles on the left and right sides of the estimated side angle, the actual position with the strongest signal strength can be fitted to determine the side angle where the target is actually located.

[0084] S106: Determine the error correction direction of the estimated side angle according to the magnitude relationship between the signal strength corresponding to the left adjacent side angle and the signal strength corresponding to the right adjacent side angle; determine the correction coefficient of the estimated side angle according to the signal strength corresponding to the estimated side angle, the signal strength corresponding to the left adjacent side angle and the signal strength corresponding to the right adjacent side angle.

[0085] The closer you are to the sound source, the stronger the received sound wave signal is. The farther you are from the sound source, the weaker the received sound wave signal is. The true direction of the target can be determined based on the magnitude of the signal corresponding to the port and starboard angles.

[0086] That is, when the signal strength corresponding to the left adjacent port angle is less than the signal strength corresponding to the right adjacent port angle, it means that the true signal strength peak point is to the right of the estimated port angle, and the error correction direction should be right. When the signal strength corresponding to the left adjacent port angle is greater than the signal strength corresponding to the right adjacent port angle, it means that the true signal strength peak point is to the left of the estimated port angle, and the error correction direction should be left.

[0087] When the signal strength corresponding to the left adjacent port angle is equal to the signal strength corresponding to the right adjacent port angle, it means that the direction corresponding to the estimated port angle is exactly the direction of the signal strength peak point and no correction is required.

[0088] When the signal strength corresponding to the left adjacent port angle is less than the signal strength corresponding to the right adjacent port angle, it means that the actual peak point is on the left side of the estimated port angle and needs to be corrected to the right.

[0089] After determining the correction direction, the server also needs to determine the correction coefficient, which is used to determine the magnitude of the adjustment of the estimated side angle.

[0090] In this specification, the server determines the correction coefficient of the estimated side angle based on the signal strength corresponding to the estimated side angle, the signal strength corresponding to the left adjacent side angle, and the signal strength corresponding to the right adjacent side angle.

[0091] Specifically, the server may determine the correction coefficient β according to the following formula:

[0092]

[0093] The error correction direction to the left is indicated by a negative sign.

[0094] The above formula indicates that when the signal strength corresponding to the left adjacent angle is less than that corresponding to the right adjacent angle, the actual peak point is to the left of the estimated angle and needs to be corrected to the right. The server determines the correction factor based on the ratio of the signal strength corresponding to the right adjacent angle to the sum of the signal strengths corresponding to the estimated angle and the right adjacent angle.

[0095] When the signal strength corresponding to the left adjacent port angle is equal to the signal strength corresponding to the right adjacent port angle, it means that the signal strength corresponding to the estimated port angle is the actual signal peak point and does not need to be corrected.

[0096] If the signal strength corresponding to the left adjacent angle is greater than that corresponding to the right adjacent angle, it indicates that the actual peak point is to the left of the estimated angle and needs to be corrected to the left. The server determines the correction factor based on the ratio of the signal strength corresponding to the left adjacent angle to the sum of the signal strengths corresponding to the estimated angle and the left adjacent angle.

[0097] S108: Determine the azimuth resolution corresponding to the estimated side angle, and determine the error side angle according to the product of the azimuth resolution and the correction coefficient.

[0098] Azimuth resolution refers to the angular interval between the sound wave signals of two targets that the sonar can distinguish, so the azimuth resolution is the maximum possible error between the estimated side angle and the actual side angle.

[0099] The server can determine the azimuth resolution corresponding to the estimated side angle, and determine the error side angle of the estimated side angle based on the azimuth resolution, the signal strength corresponding to the estimated side angle, the signal strength corresponding to the left adjacent side angle, and the signal strength corresponding to the right adjacent side angle.

[0100] For sonar systems with evenly spaced preset angles, the resolution is simulated as a fixed value. For example, when the preset angles are evenly spaced and spaced 1° apart, the azimuth resolution at each preset angle is 1°. For sonar systems with unevenly spaced preset angles, the system's target resolution varies at different preset angles. The closer the preset angles are, the smaller the corresponding azimuth resolution, the stronger the ability to distinguish different targets, and the more accurate the target's side angle determination. The less spaced the preset angles are, the greater the azimuth resolution, the weaker the ability to distinguish different targets, and the greater the deviation in the target's side angle determination.

[0101] In a sonar system with uniform distribution of preset angles, since the azimuth resolution is a fixed value, the server can determine the fixed azimuth resolution according to the configuration of the sonar system as the azimuth resolution corresponding to the estimated side angle.

[0102] In a sonar system where preset angles are unevenly distributed, the server needs to determine the azimuth resolution corresponding to the estimated side angle.

[0103] Specifically, the server uses the difference between the left adjacent broadside angle and the estimated broadside angle as a first interval angle, and uses the difference between the right adjacent broadside angle and the estimated broadside angle as a second interval angle. The server also determines an average of the first interval angle and the second interval angle as the azimuth resolution corresponding to the estimated broadside angle.

[0104] The method for determining the azimuth resolution corresponding to the estimated side angle can be expressed as follows:

[0105]

[0106] In one or more embodiments of the present specification, the server determines an error side angle according to a product of the azimuth resolution and the correction coefficient. The side angle error represents an angular difference between the estimated side angle and the time side angle.

[0107] S110: According to the error correction direction and the error side angle, the estimated side angle is corrected to obtain the actual side angle, and the target is positioned according to the actual side angle.

[0108] The server adjusts the error side angle of the estimated side angle in the direction of error correction to obtain the actual side angle, that is, the accurate side angle orientation of the detection target.

[0109] The formula for determining the actual side angle is as follows:

[0110] θ target =θ p +β×δ f

[0111] Among them, θ target represents the actual side angle, θp represents the estimated sheer angle, δ f Indicates the azimuth resolution corresponding to the estimated side angle.

[0112] After determining the actual side angle, the server can determine the measured heading of the ship's heading sensor and use this measured heading as the actual heading. Based on the relationship between the actual heading and the actual side angle, the server can determine the true bearing of the detected target.

[0113] In order to achieve target positioning, the server also needs to determine the reference point of the true direction. Then, this reference point and the true direction can determine the absolute direction of the detected target and accurately locate the target.

[0114] Because the actual side angle is measured by the sonar system, the true reference point for the actual side angle measurement is the sonar system. Therefore, if the longitude and latitude of the sonar system are consistent with the longitude and latitude of the ship, the server can use the ship's satellite positioning device to determine the longitude and latitude of the ship and the longitude and latitude of the reference point.

[0115] If the sonar system's longitude and latitude are inconsistent with the ship's longitude and latitude, such as when the sonar system is a towed linear array sonar, which is connected to the ship via a flexible streamer and to the ship's platform via a flexible cable, detecting targets underwater far from the ship, the server can determine the longitude and latitude of the equivalent acoustic center of the sonar array as the reference point longitude and latitude.

[0116] In the target positioning method based on a sonar system provided in this specification, in response to a target point marked by a user on a bearing history graph, the recording time and recorded side angle of the detected target corresponding to the target point are determined. Among the preset angles at which the sonar system can detect signals, the preset angle closest to the recorded side angle is determined as the estimated side angle of the detected target. Among the preset angles, the preset angles adjacent to the estimated side angle on the left and right sides are determined as the left and right adjacent side angles, respectively. The signal strengths corresponding to the estimated side angle, the left and right adjacent side angles at the recording time are determined. An error correction direction for the estimated side angle is determined based on the relationship between the signal strengths corresponding to the left and right adjacent side angles. A correction coefficient for the estimated side angle is determined based on the signal strengths corresponding to the estimated side angle, the left and right adjacent side angles. A azimuth resolution corresponding to the estimated side angle is determined, and an error side angle is determined based on the product of the azimuth resolution and the correction coefficient. The estimated side angle is corrected based on the error side angle according to the error correction direction.

[0117] This method does not directly use the side angle corresponding to the user's recording moment as the actual side angle. Instead, it predicts the direction where the actual signal of the detected target is the strongest to determine the actual side angle, thereby reducing the side angle error caused by the limitation of the azimuth resolution and being able to more accurately locate the detected target based on the actual side angle.

[0118] In the above step S106, the server may also determine the correction coefficient according to the following method.

[0119] When the signal strength corresponding to the left adjacent broadside angle is less than the signal strength corresponding to the right adjacent broadside angle, the correction coefficient is determined based on the ratio of the difference between the signal strength corresponding to the estimated broadside angle and the signal strength corresponding to the right adjacent chord angle, to the signal strength corresponding to the estimated broadside angle. When the signal strength corresponding to the left adjacent broadside angle is greater than the signal strength corresponding to the right adjacent broadside angle, the correction coefficient is determined based on the ratio of the difference between the signal strength corresponding to the estimated broadside angle and the signal strength corresponding to the left adjacent chord angle, to the signal strength corresponding to the estimated broadside angle. When the signal strength corresponding to the left adjacent broadside angle is equal to the signal strength corresponding to the right adjacent broadside angle, the correction coefficient is determined to be zero.

[0120] In the above step S108, when the sonar system is a towed linear array sonar, since the towed linear array moves with the ship, theoretically the heading of the towed linear array should be consistent with the heading of the ship. However, since the towed linear array sonar is far away from the ship and is connected to the ship through a flexible cable, the flexible cable is prone to yaw and bending under the influence of external factors such as ocean currents during navigation, resulting in a deviation between the heading of the towed linear array and the heading of the ship.

[0121] The side angle is measured with the towed linear array as the reference point. If the heading measured by the ship's heading sensor is determined with the ship as the reference point, there will be a large error if the true direction of the detected target is calculated based on the actual side angle and measured heading determined in S110 because the actual side angle and measured heading reference point are inconsistent.

[0122] Therefore, in one or more embodiments of this specification, the towed linear array sonar includes multiple array heading sensors for measuring array heading, i.e., the heading of the towed linear array. The server corrects the heading of the vessel's heading sensor based on the array heading measured by the array heading sensors. Using the corrected heading and the corrected actual side angle, the server determines a more accurate true bearing of the detected target.

[0123] First, the server determines the estimated array direction based on the measured array directions of each array direction sensor.

[0124] Multiple array direction sensors are installed at different positions of the towed linear array, and the measured array directions may be different. The server needs to determine an accurate estimated array direction based on each measured array direction.

[0125] This specification does not limit the method for determining the estimated direction. For example, the server may randomly select the estimated direction from the measured directions. Alternatively, the server may use the average of the measured directions as the estimated direction.

[0126] Alternatively, considering that there may be outliers in each measured array direction, in order to determine a more accurate estimated array direction, the server first removes the outliers based on statistical principles and then determines the estimated array direction.

[0127] Specifically, the server determines and calculates the mean and standard deviation of the array direction measured by each array direction sensor, and determines the screening range based on the mean and the standard deviation. c Threshold value determines the screening range.

[0128] c i represents the measurement direction of the i-th direction sensor, the process can be expressed by the following formula:

[0129]

[0130] In the above formula, N represents the number of array sensors, m c represents the mean, σ c Represents standard deviation.

[0131] The server determines the measured array directions that meet the screening range from the measured array directions of each array direction sensor as each regular data, and determines the average of each regular data as the estimated array direction.

[0132] The process can be expressed by the following formula:

[0133]

[0134] Where M represents the number of regular data, c est Indicates the estimated direction.

[0135] The server then determines the measured heading of the ship's heading sensor and determines the actual heading based on the average of the estimated array heading and the measured heading.

[0136] The process can be expressed by the following formula:

[0137]

[0138] Among them, c f Indicates the actual heading, h t Indicates the measured heading.

[0139] The estimated array heading is a relatively accurate heading of the towed linear array determined by the server based on the measured array headings of each array heading sensor. In this embodiment, the estimated array heading and the measured heading are averaged to determine the actual heading. The actual heading combines the headings of the ship and the towed linear array, and a more accurate true bearing can be determined based on the actual heading.

[0140] Specifically, true direction of arrival (DOA) t The determination method is as follows:

[0141]

[0142] In the above step S110, if the longitude and latitude of the sonar system are inconsistent with the longitude and latitude of the ship, the server can determine the longitude and latitude of the equivalent acoustic center of the sonar array as the longitude and latitude of the reference point in the following manner.

[0143] At the time of recording, the server determines the distance between the equivalent sound center of the sonar system and the ship positioning system and the longitude and latitude of the ship.

[0144] The server then determines the longitude and latitude of the equivalent sound center of the sonar system based on the distance between the equivalent sound center and the mother ship positioning system, the longitude and latitude of the ship, and the actual heading.

[0145] The distance between the ship's positioning systems and the ship's latitude and longitude can be determined by the sum of the cable length, the sonar isolation section length, and half the effective sonar array length at the time of recording. The cable length here may change over time, so the corresponding cable length needs to be determined based on the recording time.

[0146] With r t Indicates the distance between the equivalent sound center and the ship positioning system, in lat t Indicates the latitude of the ship, in lon t If represents the longitude of the ship, the process of determining the longitude and latitude of the equivalent sound center can be expressed as follows:

[0147]

[0148] lat a =asin(sin(lat t )cos(dist rad )+cos(lat t )sin(dist rad )cos(az))*57.3

[0149]

[0150] Among them, dist radThe distance between the equivalent sound center and the ship's positioning system is expressed in radians. az represents the course corrected according to the longitude of the ship. lat a Indicates the latitude of the equivalent sound center, lon a Indicates the longitude of the equivalent sound center.

[0151] Through this embodiment, the server can determine the equivalent sound center of the sonar as a reference point after determining the true direction of the detected target. Compared with the traditional method of using the ship as a reference point, this embodiment can locate the target more accurately.

[0152] In one or more embodiments of the present specification, the server may store the longitude and latitude of the ship, the measured heading measured by the ship's heading sensor, the cable length, the longitude and latitude of the sonar equivalent sound center, and the measured array directions of each array direction sensor of the sonar at each time beat at a certain time beat.

[0153] When the recording time is determined in response to the operation in step S100, the server retrieves the data of the time beat corresponding to the recording time from the stored data, and calculates the true position of the detection target at the recording time based on the retrieved data.

[0154] In many cases, the sonar operator needs to detect the target for a period of time before being able to lock onto the target based on the detection data during that period. After locking onto the target, the sonar operator needs to report the time and direction of the target's appearance through the azimuth history chart.

[0155] Because there is a time delay between the moment the target is locked and the moment the target appears, this embodiment stores the detection data in real time according to the time rhythm. In this way, when the recording time is a certain historical moment, the server can accurately locate the position of the detection target at the recording time by retrieving the relevant data corresponding to the recording time.

[0156] The above is the target positioning method based on the sonar system provided in this manual. Based on the same idea, this manual also provides a corresponding target positioning device based on the sonar system, such as Figure 4 shown.

[0157] Figure 4 A schematic diagram of a target positioning device based on a sonar system provided in this manual specifically includes:

[0158] The recording module 200 is used to determine the recording time and the recording side angle of the target point corresponding to the detected target in response to the target point marked by the user on the azimuth history map;

[0159] An estimated side angle determination module 202 is configured to determine, among various preset angles at which the sonar system can detect signals, a preset angle closest to the recorded side angle as the estimated side angle of the detected target;

[0160] The adjacent sheer angle determination module 204 is configured to determine, from the preset angles, the preset angles adjacent to the estimated sheer angle on the left and right sides, as the left adjacent sheer angle and the right adjacent sheer angle, respectively, and determine, at the recording time, the signal strength corresponding to the estimated sheer angle, the signal strength corresponding to the left adjacent sheer angle, and the signal strength corresponding to the right adjacent sheer angle;

[0161] a correction coefficient determination module 206 for determining an error correction direction for the estimated side angle based on a magnitude relationship between the signal strength corresponding to the left adjacent side angle and the signal strength corresponding to the right adjacent side angle; and determining a correction coefficient for the estimated side angle based on the signal strength corresponding to the estimated side angle, the signal strength corresponding to the left adjacent side angle, and the signal strength corresponding to the right adjacent side angle;

[0162] an error sheer angle determination module 208, configured to determine an azimuth resolution corresponding to the estimated sheer angle, and determine the error sheer angle based on the product of the azimuth resolution and the correction coefficient;

[0163] The positioning module 210 is used to correct the estimated side angle according to the error correction direction and the error side angle to obtain the actual side angle, and perform target positioning according to the actual side angle.

[0164] Optionally, the correction coefficient determination module 206 is specifically used to determine the correction coefficient according to the ratio of the signal strength corresponding to the left adjacent port angle to the sum of the signal strength corresponding to the estimated port angle and the signal strength corresponding to the left adjacent port angle when the signal strength corresponding to the left adjacent port angle is greater than the signal strength corresponding to the right adjacent port angle; when the signal strength corresponding to the left adjacent port angle is less than the signal strength corresponding to the right adjacent port angle, determine the correction coefficient according to the ratio of the signal strength corresponding to the right adjacent port angle to the sum of the signal strength corresponding to the estimated port angle and the signal strength corresponding to the right adjacent port angle; when the signal strength corresponding to the left adjacent port angle is equal to the signal strength corresponding to the right adjacent port angle, determine the correction coefficient to be zero.

[0165] Optionally, the error side angle determination module 208 is specifically used to take the difference between the left adjacent side angle and the estimated side angle as the first interval angle, and the difference between the right adjacent side angle and the estimated side angle as the second interval angle, and determine the average of the first interval angle and the second interval angle as the azimuth resolution corresponding to the estimated side angle.

[0166] Optionally, the positioning module 210 is specifically used to determine the actual heading based on the heading measured by the ship's heading sensor, determine the true bearing of the detected target based on the actual heading and the actual side angle, and perform target positioning based on the true bearing of the detected target.

[0167] Optionally, the positioning module 210 is specifically used to calculate the mean and standard deviation of the measurement directions of each array direction sensor, determine a screening range based on the mean and the standard deviation, determine the measurement directions that meet the screening range among the measurement directions of each array direction sensor as the regular data, and determine the mean of the regular data as the estimated direction.

[0168] Optionally, the positioning module 210 is specifically configured to determine an estimated array direction according to the array directions measured by each array direction sensor included in the sonar system, and determine an actual heading according to the estimated array direction and the measured heading.

[0169] Optionally, the positioning module 210 is specifically used to determine the distance between the equivalent sound center of the sonar system and the ship positioning system and the longitude and latitude of the ship at the recording time, determine the longitude and latitude of the equivalent sound center of the sonar system according to the distance, the longitude and latitude of the ship and the actual heading, and perform target positioning according to the longitude and latitude of the equivalent sound center of the sonar system and the true bearing of the detected target.

[0170] This specification also provides a computer-readable storage medium, which stores a computer program that can be used to execute the above Figure 1 Provided is a target positioning method based on sonar system.

[0171] This manual also provides Figure 5 The schematic structure diagram of the electronic device shown in FIG. Figure 5 As mentioned above, at the hardware level, the electronic device includes a processor, an internal bus, a network interface, a memory and a non-volatile memory, and may also include other hardware required for the business. The processor reads the corresponding computer program from the non-volatile memory into the memory and then runs it to achieve the above Figure 1 The target positioning method based on the sonar system. Of course, in addition to software implementation, this specification does not exclude other implementation methods, such as logic devices or a combination of software and hardware, etc. In other words, the execution body of the following processing flow is not limited to each logic unit, but can also be hardware or logic devices.

[0172] Improvements to a technology can be clearly distinguished as either hardware improvements (for example, improvements to circuit structures such as diodes, transistors, and switches) or software improvements (improvements to process flows). However, with technological advancements, many process flow improvements today can now be considered direct improvements to hardware circuit structures. Designers almost always program the improved process flow into the hardware circuit to obtain the corresponding hardware circuit structure. Therefore, it cannot be said that a process flow improvement cannot be implemented using a hardware module. For example, a programmable logic device (PLD), such as a field programmable gate array (FPGA), is an integrated circuit whose logical function is determined by user programming. Designers can "integrate" a digital system on a PLD by programming it themselves, without having to hire a chip manufacturer to design and manufacture a dedicated integrated circuit chip. Moreover, nowadays, instead of manually manufacturing integrated circuit chips, this programming is mostly done using "logic compiler" software. This is similar to the software compiler used when developing programs. Before compilation, the original code must also be written in a specific programming language, called a hardware description language (HDL). There is not just one HDL, but many, such as ABEL (Advanced Boolean Expression Language), AHDL (Altera Hardware Description Language), Confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), Lava, Lola, MyHDL, PALASM, RHDL (Ruby Hardware Description Language), etc. The most commonly used ones are VHDL (Very-High-Speed ​​Integrated Circuit Hardware Description Language) and Verilog. Those skilled in the art will also understand that by simply programming the method flow in one of these hardware description languages ​​and then programming it into an integrated circuit, a hardware circuit that implements the logic method flow can be easily obtained.

[0173] The controller can be implemented in any suitable manner. For example, the controller can take the form of a microprocessor or processor and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro)processor, logic gates, switches, application-specific integrated circuits (ASICs), programmable logic controllers, and embedded microcontrollers. Examples of controllers include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320. The memory controller can also be implemented as part of the control logic of the memory. Those skilled in the art will also know that in addition to implementing the controller in a purely computer-readable program code format, the controller can be implemented in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers by logically programming the method steps. Therefore, such a controller can be considered a hardware component, and the devices included therein for implementing various functions can also be considered as structures within the hardware component. Or even, the devices for implementing various functions can be considered as both software modules that implement the method and structures within the hardware component.

[0174] The systems, devices, modules, or units described in the above embodiments may be implemented by computer chips or entities, or by products having certain functions. A typical implementation device is a computer. Specifically, the computer may be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smartphone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

[0175] For the convenience of description, the above devices are described as being divided into various units according to their functions. Of course, when implementing this specification, the functions of each unit can be implemented in the same or multiple software and / or hardware.

[0176] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0177] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the steps in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0178] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0179] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0180] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0181] Memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.

[0182] Computer-readable media includes permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0183] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0184] Those skilled in the art will appreciate that the embodiments of this specification may be provided as methods, systems, or computer program products. Thus, this specification may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, this specification may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0185] This specification may be described in the general context of computer-executable instructions, such as program modules, executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, and the like that perform specific tasks or implement specific abstract data types. This specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices connected through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media, including storage devices.

[0186] The various embodiments in this specification are described in a progressive manner. Similar parts between the various embodiments can be referred to in conjunction with each other. Each embodiment focuses on the differences between the other embodiments. In particular, the system embodiments are generally similar to the method embodiments, so the description is relatively simple. For relevant parts, refer to the description of the method embodiments.

[0187] The foregoing is merely an embodiment of the present invention and is not intended to limit the present invention. Various modifications and variations are possible for those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention are intended to be included within the scope of the claims of this application.

Claims

1. A target positioning method based on a sonar system, characterized in that: include: In response to a target point marked by a user on a azimuth history graph, determining a recording time and a recording side angle of the target point corresponding to a detected target; Determining, among various preset angles at which the sonar system can detect signals, a preset angle closest to the recorded side angle as the estimated side angle of the detected target; Determine, from among the preset angles, preset angles adjacent to the estimated side angle on both sides as the left adjacent side angle and the right adjacent side angle, respectively, and determine, at the recording time, the signal strength corresponding to the estimated side angle, the signal strength corresponding to the left adjacent side angle, and the signal strength corresponding to the right adjacent side angle; determining an error correction direction of the estimated side angle according to a magnitude relationship between the signal strength corresponding to the left adjacent side angle and the signal strength corresponding to the right adjacent side angle; determining a correction coefficient of the estimated side angle according to the signal strength corresponding to the estimated side angle, the signal strength corresponding to the left adjacent side angle, and the signal strength corresponding to the right adjacent side angle; determining an azimuth resolution corresponding to the estimated side angle, and determining an error side angle according to a product of the azimuth resolution and the correction coefficient; According to the error correction direction and based on the error side angle, the estimated side angle is corrected to obtain the actual side angle, and the target is positioned based on the actual side angle.

2. The method according to claim 1, wherein Determining a correction coefficient for the estimated side angle according to the signal strength corresponding to the estimated side angle, the signal strength corresponding to the left adjacent side angle, and the signal strength corresponding to the right adjacent side angle specifically includes: When the signal strength corresponding to the left adjacent port angle is greater than the signal strength corresponding to the right adjacent port angle, determining a correction coefficient according to a ratio of the signal strength corresponding to the left adjacent port angle to the sum of the signal strength corresponding to the estimated port angle and the signal strength corresponding to the left adjacent port angle; When the signal strength corresponding to the left adjacent port angle is less than the signal strength corresponding to the right adjacent port angle, determining a correction coefficient according to a ratio of the signal strength corresponding to the right adjacent port angle to the sum of the signal strength corresponding to the estimated port angle and the signal strength corresponding to the right adjacent port angle; When the signal strength corresponding to the left adjacent port angle is equal to the signal strength corresponding to the right adjacent port angle, the correction coefficient is determined to be zero.

3. The method according to claim 1, wherein Determining the azimuth resolution corresponding to the estimated broadside angle specifically includes: Taking the difference between the left adjacent sheer angle and the estimated sheer angle as a first interval angle, and taking the difference between the right adjacent sheer angle and the estimated sheer angle as a second interval angle; Determine an average of the first interval angle and the second interval angle as the azimuth resolution corresponding to the estimated side angle.

4. The method according to claim 1, wherein Target positioning is performed according to the actual side angle, specifically including: Determine the actual heading based on the heading measured by the ship's heading sensor; determining the true bearing of the detected target according to the actual heading and the actual side angle; Target positioning is performed according to the true orientation of the detected target.

5. The method according to claim 4, wherein Determine the estimated array direction based on the array direction measured by each array direction sensor, specifically including: Calculate the mean and standard deviation of the measured array direction of each array direction sensor, Determine the screening range according to the mean and the standard deviation; Determining, among the measurement array directions of the array direction sensors, the measurement array directions that meet the screening range as the regular data; Determine the mean of the conventional data as the estimated array direction.

6. The method according to claim 4, wherein Determine the actual heading based on the heading measured by the ship's heading sensor, specifically including: Determining an estimated array direction based on the array directions measured by each array direction sensor included in the sonar system; The actual heading is determined according to the estimated array heading and the measured heading.

7. The method according to claim 4, wherein Target positioning is performed according to the actual side angle, specifically including: At the recording time, determining the distance between the equivalent acoustic center of the sonar system and the ship positioning system and the latitude and longitude of the ship; determining the longitude and latitude of the equivalent acoustic center of the sonar system based on the distance, the longitude and latitude of the ship, and the actual heading; Target positioning is performed based on the longitude and latitude of the equivalent sound center of the sonar system and the true bearing of the detected target.

8. A target positioning device based on a sonar system, characterized in that: include: A recording module, in response to a target point marked by a user on the azimuth history map, determines a recording time and a recording side angle of the target point corresponding to the detected target; an estimated side angle determination module, which determines, among various preset angles at which the sonar system can detect signals, a preset angle closest to the recorded side angle as the estimated side angle of the detected target; an adjacent sheer angle determination module, which determines, from the preset angles, the preset angles adjacent to the estimated sheer angle on the left and right sides as the left adjacent sheer angle and the right adjacent sheer angle, respectively, and determines, at the recording time, the signal strength corresponding to the estimated sheer angle, the signal strength corresponding to the left adjacent sheer angle, and the signal strength corresponding to the right adjacent sheer angle; a correction coefficient determination module, determining an error correction direction of the estimated side angle according to a magnitude relationship between the signal strength corresponding to the left adjacent side angle and the signal strength corresponding to the right adjacent side angle; and determining a correction coefficient of the estimated side angle according to the signal strength corresponding to the estimated side angle, the signal strength corresponding to the left adjacent side angle, and the signal strength corresponding to the right adjacent side angle; an error sheer angle determination module, which determines an azimuth resolution corresponding to the estimated sheer angle, and determines the error sheer angle according to the product of the azimuth resolution and the correction coefficient; The positioning module corrects the estimated side angle according to the error correction direction and the error side angle to obtain the actual side angle, and performs target positioning according to the actual side angle.

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 method according to any one of claims 1 to 7 is implemented.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the method according to any one of claims 1 to 7 is implemented.

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