Navigation radar guided photoelectric unmanned ship horizontal plane target detection and positioning method

Abstract

The invention discloses a navigation radar guided photoelectric unmanned ship horizontal plane target detection and positioning method, which comprises the following steps: carrying out zero calibration on a pose measurement device, a navigation radar and a photoelectric device which are deployed on an unmanned ship, and establishing an unmanned ship body coordinate system; obtaining the pose data of the unmanned ship based on the pose measurement equipment; adjusting the pitch angle of the photoelectric equipment based on the unmanned ship rolling data or adjusting the azimuth angle of the photoelectric equipment based on the unmanned ship pitching data, so that the sea level is located in the middle of the picture of the photoelectric equipment; the optoelectronic device receives the orientation of the to-be-tracked target detected by the navigation radar, the navigation radar guides the optoelectronic device to adjust the azimuth angle, and a photoelectric target detection module of the optoelectronic device detects the to-be-tracked target; the photoelectric device locks a to-be-tracked target, and the distance between the unmanned ship and the to-be-tracked target is measured through laser ranging; and determining the longitude and latitude of the to-be-tracked target based on the distance and the unmanned ship pose data. According to the method, the detection accuracy of the unmanned ship on surrounding targets is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of target detection, and in particular to a method for detecting and positioning horizontal plane targets of an unmanned boat guided by a navigation radar and optoelectronics. Background Art

[0002] With the development of intelligent unmanned boats, unmanned boats need to perform some tasks that need to be completed autonomously, such as regional guarding tasks. It is necessary to improve the accuracy of unmanned boats in detecting and locating surface targets in complex marine environments. In complex marine environments, the posture of unmanned boats changes greatly. When photoelectrically detecting surface targets, in order to ensure successful detection, the process of searching for targets around is relatively slow, which is not conducive to quickly determining target information; when navigation radar detects surface targets, there are many clutters reflected by sea waves, and there are many false alarms. Waves may be used as targets, which is not conducive to accurately constructing the situation. How to use sensors such as navigation radar (patent CN109507662), photoelectric equipment (patent CN212890845) and inertial navigation measurement equipment (patent CN116026329) to accurately complete the autonomous detection and positioning of surface targets by unmanned boats.

[0003] Through the above analysis, the problems and defects of the prior art are as follows:

[0004] (1) In complex sea conditions, the optoelectronic equipment installed on the unmanned boat relies solely on its own gyroscope and is unable to detect and locate surface targets when the pitch and roll angles of the unmanned boat change significantly.

[0005] (2) In complex sea conditions, unmanned boats rely solely on navigation radars to detect surface targets, which results in many false alarms and cannot provide an accurate situation environment for the unmanned boats.

[0006] (3) The optoelectronic equipment has a limited field of view and cannot quickly and autonomously detect and locate surface targets around the unmanned boat.

[0007] The difficulty in solving the above problems and defects lies in the fact that the attitude of the unmanned boat changes greatly at sea. It is necessary to adjust the pitch change of the optoelectronics in real time according to the attitude data of the unmanned boat, maintain the optical field parallel to the sea level, and automatically detect and locate the target according to the navigation radar information. There is a lot of information exchange between the devices, the real-time requirements are high, and it is difficult to correctly lock the detected target at sea. Summary of the invention

[0008] In view of this, the present invention provides a method for detecting and positioning horizontal targets of an unmanned boat based on navigation radar-guided optoelectronics, which can solve the above-mentioned technical problems.

[0009] In order to solve the above technical problems, the present invention is implemented as follows.

[0010] A method for detecting and locating horizontal targets of an unmanned boat guided by a navigation radar and an optoelectronic system, comprising:

[0011] Step S1: zero-calibrate the posture measurement equipment, navigation radar and optoelectronic equipment deployed on the unmanned boat to establish the unmanned boat hull coordinate system; obtain the posture data of the unmanned boat based on the posture measurement equipment;

[0012] Step S2: the optoelectronic device acquires the unmanned boat posture data, parses the unmanned boat roll data and the unmanned boat pitch data from the unmanned boat posture data, adjusts the pitch angle of the optoelectronic device based on the unmanned boat roll data or adjusts the azimuth angle of the optoelectronic device based on the unmanned boat pitch data, so that the sea level is in the middle of the picture of the optoelectronic device;

[0013] Step S3: the optoelectronic device receives the azimuth of the target to be tracked detected by the navigation radar, the navigation radar guides the optoelectronic device to adjust the azimuth, and the optoelectronic target detection module of the optoelectronic device detects the target to be tracked;

[0014] Step S4: The optoelectronic device locks the target to be tracked, and measures the distance between the unmanned boat and the target to be tracked by laser ranging; based on the distance and the unmanned boat posture data, the longitude and latitude of the target to be tracked are determined.

[0015] Preferably, in step S2, the relative azimuth of the optoelectronic device is determined in the unmanned boat hull coordinate system, and the unmanned boat roll data and the unmanned boat pitch data are parsed from the unmanned boat posture data; when the relative azimuth of the optoelectronic device is at 45° to port, 135° to port, 45° to starboard, and 135° to starboard, the pitch angle of the optoelectronic device is adjusted based on the unmanned boat roll data; when the relative azimuth of the optoelectronic device is at 0°, the azimuth of the optoelectronic device is adjusted based on the unmanned boat pitch data;

[0016] Adjusting the pitch angle of the optoelectronic device based on the rolling data of the unmanned boat includes:

[0017] Record the change of the pitch angle of the optoelectronic device when the azimuth angle of the optoelectronic device is 45° to port and 135° to starboard, and the sea level is in the middle of the optoelectronic device's screen. p1 and φ p2 , calculate its average value φ1,

[0018] The average value φ1 is compensated for the change in the inertial roll value of the attitude measurement device;

[0019] Then record the pitch angle change of the optoelectronic device when the azimuth angle of the optoelectronic device is 135° to port and 45° to starboard, and the sea level is in the middle of the optoelectronic device's screen.p3 and φ p4 , calculate its average value φ2,

[0020] Calculate the average value φ3 of φ1 and φ2, φ3 = (φ1 + φ2) / 2, and compensate φ3 for the change of the inertial guide roll value of the attitude measurement device;

[0021] The adjusting the azimuth angle of the optoelectronic device based on the pitch data of the unmanned boat comprises:

[0022] The change value φ4 of the pitch angle of the optoelectronic device when the sea level is in the middle of the screen of the optoelectronic device is recorded, and the change value is compensated to the change of the inertial navigation pitch value of the attitude measurement device.

[0023] Preferably, in step S3, the navigation radar guiding the optoelectronic device to adjust the azimuth angle includes:

[0024] The navigation radar detects the target to be tracked at the sea level and generates a detection image. The optoelectronic target detection module calculates the centroid of the detection image and obtains the orientation of the centroid in the unmanned boat hull coordinate system. Based on the unmanned boat bow data in the unmanned boat posture data, the orientation of the centroid in the unmanned boat hull coordinate system is converted into an absolute orientation in the geodetic coordinate system. The absolute orientation is sent to the optoelectronic device, and the control orientation servo device corresponding to the optoelectronic device maintains the orientation angle of the optoelectronic device at the absolute orientation.

[0025] Preferably, in step S4, the optoelectronic device locking the target to be tracked includes:

[0026] During the zooming process of the optoelectronic device, the pixel size of the identification frame is detected in real time. When the length or width of the identification frame occupies 1 / 3 of the entire screen, the zooming is stopped and the target to be tracked is locked.

[0027] 5. The method according to claim 4, characterized in that, in step S4, determining the longitude and latitude of the target to be tracked based on the distance and the position data of the unmanned boat comprises:

[0028] lat′=lat+L*cosΦ T / (R p +(R e -R p )*(90-lat) / 90*180 / π

[0029] lon′=lon+L*sinΦ T / ((R p +(R e -R p )*(90-lat) / 90*cos(lat*π / 180)*180 / π

[0030] Among them, lat is the latitude of the unmanned boat, lon is the longitude of the unmanned boat, L is the distance measured by the photoelectric equipment, Φ T is the absolute azimuth, R p is the Earth's polar radius, R e is the equatorial radius of the earth, lat' is the latitude of the target location, and lon' is the longitude of the target location.

[0031] A navigation radar-guided optoelectronic unmanned boat horizontal target detection and positioning device, comprising:

[0032] Initialization module: configured to perform zero-position calibration on the posture measurement equipment, navigation radar and optoelectronic equipment deployed on the unmanned boat, establish the hull coordinate system of the unmanned boat; obtain the posture data of the unmanned boat based on the posture measurement equipment;

[0033] Adjustment module: configured to obtain the unmanned boat posture data from the optoelectronic device, parse the unmanned boat roll data and the unmanned boat pitch data from the unmanned boat posture data, adjust the pitch angle of the optoelectronic device based on the unmanned boat roll data or adjust the azimuth angle of the optoelectronic device based on the unmanned boat pitch data, so that the sea level is in the middle of the picture of the optoelectronic device;

[0034] Detection module: configured so that the optoelectronic device receives the azimuth of the target to be tracked detected by the navigation radar, the navigation radar guides the optoelectronic device to adjust the azimuth, and the optoelectronic target detection module of the optoelectronic device detects the target to be tracked;

[0035] Tracking module: configured so that the optoelectronic device locks the target to be tracked, measures the distance between the unmanned boat and the target to be tracked by laser ranging; and determines the longitude and latitude of the target to be tracked based on the distance and the position data of the unmanned boat.

[0036] The present invention provides a computer-readable storage medium, wherein a plurality of instructions are stored in the storage medium; the plurality of instructions are used for a processor to load and execute the method as described above.

[0037] An electronic device provided by the present invention is characterized in that the electronic device comprises:

[0038] A processor, which is used to execute multiple instructions;

[0039] A memory for storing a plurality of instructions;

[0040] The plurality of instructions are used to be stored by the memory and loaded and executed by the processor to implement the method as described above.

[0041] Beneficial effects:

[0042] (1) The present invention provides a method for stabilizing the field of view of an optoelectronic device at sea level based on the posture data of an unmanned boat. By combining a navigation radar with optoelectronics and utilizing the ability of the navigation radar to quickly scan the surrounding environment of the unmanned boat, the optoelectronics can be automatically guided to lock the orientation of the target to be inspected based on the navigation radar data, thereby enabling the unmanned boat to autonomously complete the detection and positioning of surface targets.

[0043] (2) The present invention effectively improves the detection accuracy of the unmanned boat for surrounding targets.

[0044] (3) The present invention utilizes photoelectric detection to detect radar targets, thereby eliminating the interference of the unmanned boat in constructing the surrounding situation. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 This is a schematic flow chart of a method for detecting and locating horizontal targets on an unmanned boat guided by a navigation radar and photoelectric sensors according to the present invention;

[0046] Figure 2 A detailed flow chart of the method for detecting and locating horizontal targets of an unmanned boat guided by a navigation radar and photoelectric sensors according to the present invention;

[0047] Figure 3 This is a schematic diagram of the coordinate system of the unmanned boat hull of the present invention;

[0048] Figure 4 A schematic diagram of the navigation radar of the present invention guiding the photoelectric pointing to the detected target;

[0049] Figure 5 The present invention is a schematic structural diagram of a navigation radar-guided optoelectronic unmanned boat horizontal target detection and positioning device. DETAILED DESCRIPTION

[0050] The present invention is described in detail below in conjunction with the accompanying drawings and embodiments.

[0051] like Figure 1-Figure 2 As shown, the present invention proposes a method for detecting and locating horizontal targets of an unmanned boat guided by a navigation radar and photoelectric, the method comprising:

[0052] Step S1: zero-calibrate the posture measurement equipment, navigation radar and optoelectronic equipment deployed on the unmanned boat to establish the unmanned boat hull coordinate system; obtain the posture data of the unmanned boat based on the posture measurement equipment;

[0053] Step S2: the optoelectronic device acquires the unmanned boat posture data, parses the unmanned boat roll data and the unmanned boat pitch data from the unmanned boat posture data, adjusts the pitch angle of the optoelectronic device based on the unmanned boat roll data or adjusts the azimuth angle of the optoelectronic device based on the unmanned boat pitch data, so that the sea level is in the middle of the picture of the optoelectronic device;

[0054] Step S3: the optoelectronic device receives the azimuth of the target to be tracked detected by the navigation radar, the navigation radar guides the optoelectronic device to adjust the azimuth, and the optoelectronic target detection module of the optoelectronic device detects the target to be tracked;

[0055] Step S4: The optoelectronic device locks the target to be tracked, and measures the distance between the unmanned boat and the target to be tracked by laser ranging; based on the distance and the unmanned boat posture data, the longitude and latitude of the target to be tracked are determined.

[0056] The present invention measures the real-time posture data of the unmanned boat through the unmanned boat posture measurement equipment, realizes the self-stabilization of the pitch direction of the optoelectronic device based on the posture data; detects the sea level target through the navigation radar, outputs the target azimuth, and realizes the azimuth positioning of the optoelectronic device based on the azimuth data; the optoelectronic device measures the distance of the target from the unmanned boat through laser ranging.

[0057] Furthermore, the posture measurement device is an inertial navigation measurement device.

[0058] In the step S1, in the unmanned boat hull coordinate system, the bow is the positive direction of the X axis, the starboard side of the hull is the positive direction of the Y axis, the vertical downward direction of the hull is the positive direction of the Z axis, and the center of gravity of the hull is the origin of the unmanned boat hull coordinate system.

[0059] The step S2, wherein the relative azimuth of the optoelectronic device is determined in the unmanned boat hull coordinate system, and the unmanned boat roll data and the unmanned boat pitch data are parsed from the unmanned boat posture data; when the relative azimuth of the optoelectronic device is at 45° on the port side, 135° on the port side, 45° on the starboard side, and 135° on the starboard side, the pitch angle of the optoelectronic device is adjusted based on the unmanned boat roll data; when the relative azimuth of the optoelectronic device is at 0°, the azimuth of the optoelectronic device is adjusted based on the unmanned boat pitch data.

[0060] Further, adjusting the pitch angle of the optoelectronic device based on the rolling data of the unmanned boat includes:

[0061] Record the change of the pitch angle of the optoelectronic device when the azimuth angle of the optoelectronic device is 45° to port and 135° to starboard, and the sea level is in the middle of the optoelectronic device's screen. p1 and φ p2 , calculate its average value φ1,

[0062] The average value φ1 is compensated for the change in the inertial roll value of the attitude measurement device;

[0063] Then record the pitch angle change of the optoelectronic device when the azimuth angle of the optoelectronic device is 135° to port and 45° to starboard, and the sea level is in the middle of the optoelectronic device's screen. p3 and φ p4 , calculate its average value φ2,

[0064] Calculate the average value φ3 of φ1 and φ2, φ3 = (φ1 + φ2) / 2, and compensate φ3 for the change in the inertial guide roll value of the attitude measurement device.

[0065] The above correction can eliminate the influence of the rolling of the unmanned boat on the optoelectronic equipment to keep the sea level in the middle of the picture.

[0066] Further, the adjusting the azimuth angle of the optoelectronic device based on the pitch data of the unmanned boat includes:

[0067] The change value φ4 of the pitch angle of the optoelectronic device when the sea level is in the middle of the screen of the optoelectronic device is recorded, and the change value is compensated to the change of the inertial navigation pitch value of the attitude measurement device.

[0068] The above correction can eliminate the influence of the pitching of the unmanned boat on the optoelectronic system of keeping the sea level in the middle of the picture.

[0069] Step S3: the optoelectronic device receives the azimuth of the target to be tracked detected by the navigation radar, the navigation radar guides the optoelectronic device to adjust the azimuth, and the optoelectronic target detection module of the optoelectronic device detects the target to be tracked, wherein:

[0070] The navigation radar guides the optoelectronic device to adjust the azimuth, including:

[0071] The navigation radar detects the target to be tracked at the sea level and generates a detection image. The photoelectric target detection module calculates the centroid of the detection image and obtains the orientation of the centroid in the unmanned boat hull coordinate system. Based on the unmanned boat bow data in the unmanned boat posture data, the orientation of the centroid in the unmanned boat hull coordinate system is converted into an absolute orientation in the geodetic coordinate system. The absolute orientation is sent to the photoelectric device, and the control orientation servo device corresponding to the photoelectric device maintains the orientation angle of the photoelectric setting at the absolute orientation.

[0072] Furthermore, the conversion formula for converting the orientation of the centroid in the unmanned boat hull coordinate system into the absolute orientation in the earth coordinate system is:

[0073]

[0074] Among them, θ is the absolute orientation, α is the bow angle of the unmanned boat, and β is the orientation of the centroid in the unmanned boat hull coordinate system.

[0075] The photoelectric target detection module of the photoelectric device detects the target to be tracked, including:

[0076] By means of zooming and focusing, the field of view of the optoelectronic lens of the optoelectronic device is controlled, and the image is automatically focused during the zooming process to keep it clear, which is convenient for the optoelectronic recognition module to detect.

[0077] Further, in step S4, the optoelectronic device locks the target to be tracked, measures the distance between the unmanned boat and the target to be tracked by laser ranging; and determines the longitude and latitude of the target to be tracked based on the distance and the unmanned boat posture data, wherein:

[0078] The step S4, wherein the optoelectronic device locks the target to be tracked, comprises:

[0079] During the zooming process of the optoelectronic device, the pixel size of the identification frame is detected in real time. When the length or width of the identification frame occupies 1 / 3 of the entire screen, the zooming is stopped and the target to be tracked is locked.

[0080] The step S4, determining the longitude and latitude of the target to be tracked based on the distance and the position data of the unmanned boat, includes:

[0081] lat′=lat+L*cosΦ T / (R p +(R e -R p )*(90-lat) / 90*180 / π

[0082] lon′=lon+L*sinΦ T / ((R p +(R e -R p )*(90-lat) / 90*cos(lat*π / 180)*180 / π

[0083] Among them, lat is the latitude of the unmanned boat, lon is the longitude of the unmanned boat, L is the distance measured by the photoelectric equipment, Φ T is the absolute azimuth, R p is the Earth's polar radius, R e is the equatorial radius of the earth, lat' is the latitude of the target location, and lon' is the longitude of the target location.

[0084] In the present invention, after the photoelectric lock target, the distance between the detected target and the unmanned boat is measured by laser ranging, and the longitude and latitude of the detected target are calculated according to the current photoelectric absolute orientation and the position information in the unmanned boat posture data measured by the inertial navigation measurement equipment. The detected target is measured 10 times, and when the measured distance is invalid, the longitude and latitude are not calculated. The effective position of the detected target is taken, and the final estimated position of the detected target is output through clustering operation.

[0085] The present invention also provides a navigation radar-guided optoelectronic unmanned boat horizontal target detection and positioning device, the device comprising:

[0086] Initialization module: configured to perform zero-position calibration on the posture measurement equipment, navigation radar and optoelectronic equipment deployed on the unmanned boat, establish the hull coordinate system of the unmanned boat; obtain the posture data of the unmanned boat based on the posture measurement equipment;

[0087] Adjustment module: configured to obtain the unmanned boat posture data from the optoelectronic device, parse the unmanned boat roll data and the unmanned boat pitch data from the unmanned boat posture data, adjust the pitch angle of the optoelectronic device based on the unmanned boat roll data or adjust the azimuth angle of the optoelectronic device based on the unmanned boat pitch data, so that the sea level is in the middle of the picture of the optoelectronic device;

[0088] Detection module: configured so that the optoelectronic device receives the azimuth of the target to be tracked detected by the navigation radar, the navigation radar guides the optoelectronic device to adjust the azimuth, and the optoelectronic target detection module of the optoelectronic device detects the target to be tracked;

[0089] Tracking module: configured so that the optoelectronic device locks the target to be tracked, measures the distance between the unmanned boat and the target to be tracked by laser ranging; and determines the longitude and latitude of the target to be tracked based on the distance and the position data of the unmanned boat.

[0090] The above specific embodiments only describe the design principle of the present invention. The shapes and names of the components in the description may be different and are not limited. Therefore, those skilled in the art in the field of the present invention may modify or replace the technical solutions recorded in the above embodiments; and these modifications and replacements do not deviate from the creative purpose and technical solutions of the present invention and should all fall within the protection scope of the present invention.

Claims

1. A method for detecting and locating horizontal targets of an unmanned boat guided by a navigation radar and photoelectric, characterized in that: The method comprises: Step S1: zero-calibrate the posture measurement equipment, navigation radar and optoelectronic equipment deployed on the unmanned boat to establish the unmanned boat hull coordinate system; obtain the posture data of the unmanned boat based on the posture measurement equipment; Step S2: the optoelectronic device acquires the unmanned boat posture data, parses the unmanned boat roll data and the unmanned boat pitch data from the unmanned boat posture data, adjusts the pitch angle of the optoelectronic device based on the unmanned boat roll data or adjusts the azimuth angle of the optoelectronic device based on the unmanned boat pitch data, so that the sea level is in the middle of the picture of the optoelectronic device; Step S3: the optoelectronic device receives the azimuth of the target to be tracked detected by the navigation radar, the navigation radar guides the optoelectronic device to adjust the azimuth, and the optoelectronic target detection module of the optoelectronic device detects the target to be tracked; Step S4: The optoelectronic device locks the target to be tracked, and measures the distance between the unmanned boat and the target to be tracked by laser ranging; based on the distance and the unmanned boat posture data, the longitude and latitude of the target to be tracked are determined.

2. The method according to claim 1, characterized in that The step S2, wherein the relative azimuth of the optoelectronic device is determined in the unmanned boat hull coordinate system, and the unmanned boat roll data and the unmanned boat pitch data are parsed from the unmanned boat posture data; when the relative azimuth of the optoelectronic device is at 45° on the port side, 135° on the port side, 45° on the starboard side, and 135° on the starboard side, the pitch angle of the optoelectronic device is adjusted based on the unmanned boat roll data; when the relative azimuth of the optoelectronic device is at 0°, the azimuth of the optoelectronic device is adjusted based on the unmanned boat pitch data; Adjusting the pitch angle of the optoelectronic device based on the rolling data of the unmanned boat includes: Record the change in the pitch angle of the optoelectronic device when the azimuth angle of the optoelectronic device is 45° to port and 135° to starboard, and the sea level is in the middle of the optoelectronic device's screen. p1 and φ p2 , calculate its average value φ1, The average value φ1 is compensated for the change of the inertial roll value of the attitude measurement device; Then record the pitch angle change of the optoelectronic device when the azimuth angle of the optoelectronic device is 135° to port and 45° to starboard, and the sea level is in the middle of the optoelectronic device's screen. p3 and φ p4 , calculate its average value φ2, Calculate the average value φ3 of φ1 and φ2, φ3 = (φ1 + φ2) / 2, and compensate φ3 for the change of the inertial guide roll value of the attitude measurement device; The adjusting the azimuth angle of the optoelectronic device based on the pitch data of the unmanned boat comprises: The change value φ4 of the pitch angle of the optoelectronic device when the sea level is in the middle of the screen of the optoelectronic device is recorded, and the change value is compensated to the change of the inertial navigation pitch value of the attitude measurement device.

3. The method according to claim 1, characterized in that The step S3, wherein the navigation radar guides the optoelectronic device to adjust the azimuth, comprises: The navigation radar detects the target to be tracked at the sea level and generates a detection image. The optoelectronic target detection module calculates the centroid of the detection image and obtains the orientation of the centroid in the unmanned boat hull coordinate system. Based on the unmanned boat bow data in the unmanned boat posture data, the orientation of the centroid in the unmanned boat hull coordinate system is converted into an absolute orientation in the geodetic coordinate system. The absolute orientation is sent to the optoelectronic device, and the control orientation servo device corresponding to the optoelectronic device maintains the orientation angle of the optoelectronic device at the absolute orientation.

4. The method according to any one of claims 1 to 3, characterized in that The step S4, wherein the optoelectronic device locks the target to be tracked, comprises: During the zooming process of the optoelectronic device, the pixel size of the identification frame is detected in real time. When the length or width of the identification frame occupies 1 / 3 of the entire screen, the zooming is stopped and the target to be tracked is locked.

5. The method according to claim 4, characterized in that The step S4, determining the longitude and latitude of the target to be tracked based on the distance and the position data of the unmanned boat, includes: lat′=lat+L*cosΦ T / (R p +(R e -R p )*(90-years) / 90*180 / π long′=long+L*sinΦ T / ((R p +(R e -R p )*(90-lat) / 90*cos(lat*π / 180)*180 / π Among them, lat is the latitude of the unmanned boat, lon is the longitude of the unmanned boat, L is the distance measured by the photoelectric equipment, Φ T is the absolute azimuth, R p is the Earth's polar radius, R e is the equatorial radius of the earth, lat' is the latitude of the target location, and lon' is the longitude of the target location.

6. A navigation radar-guided optoelectronic unmanned boat horizontal target detection and positioning device, characterized in that: The device comprises: Initialization module: configured to perform zero-position calibration on the posture measurement equipment, navigation radar and optoelectronic equipment deployed on the unmanned boat, establish the hull coordinate system of the unmanned boat; obtain the posture data of the unmanned boat based on the posture measurement equipment; Adjustment module: configured to obtain the unmanned boat posture data from the optoelectronic device, parse the unmanned boat roll data and the unmanned boat pitch data from the unmanned boat posture data, adjust the pitch angle of the optoelectronic device based on the unmanned boat roll data or adjust the azimuth angle of the optoelectronic device based on the unmanned boat pitch data, so that the sea level is in the middle of the picture of the optoelectronic device; Detection module: configured so that the optoelectronic device receives the azimuth of the target to be tracked detected by the navigation radar, the navigation radar guides the optoelectronic device to adjust the azimuth, and the optoelectronic target detection module of the optoelectronic device detects the target to be tracked; Tracking module: configured so that the optoelectronic device locks the target to be tracked, measures the distance between the unmanned boat and the target to be tracked by laser ranging; and determines the longitude and latitude of the target to be tracked based on the distance and the position data of the unmanned boat.

7. A computer-readable storage medium, wherein a plurality of instructions are stored in the storage medium; the plurality of instructions are used for a processor to load and execute the method as claimed in any one of claims 1 to 5.

8. An electronic device, characterized in that: The electronic device comprises: A processor, which is used to execute multiple instructions; A memory for storing a plurality of instructions; The plurality of instructions are used to be stored in the memory and loaded and executed by the processor according to any one of claims 1 to 5.

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