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

Abstract

The application discloses a navigation radar guided photoelectric unmanned ship horizontal plane target detection and positioning method, which comprises the following steps: performing zero position calibration on a pose measurement device, a navigation radar and a photoelectric device arranged on an unmanned ship, and establishing an unmanned ship hull coordinate system; obtaining unmanned ship pose data based on the pose measurement device; adjusting the pitch angle of the photoelectric device based on unmanned ship roll data or adjusting the azimuth angle of the photoelectric device based on unmanned ship pitch data, so that the sea level is located at the middle position of the photoelectric device; the photoelectric device receives the azimuth of a to-be-tracked target detected by the navigation radar, the navigation radar guides the photoelectric device to adjust the azimuth angle, and the photoelectric target detection module of the photoelectric device detects the to-be-tracked target; the photoelectric device locks the to-be-tracked target, measures the distance between the unmanned ship and the to-be-tracked target through laser ranging; and the latitude and longitude of the to-be-tracked target are determined based on the distance and the unmanned ship pose data. The method improves the detection accuracy of the unmanned ship on surrounding targets.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of target detection, and in particular to a navigation radar guided photoelectric unmanned ship horizontal plane target detection and positioning method. BACKGROUND

[0002] With the development of unmanned ship intelligence, unmanned ships need to perform some tasks that need to be completed autonomously, such as area guard tasks, and need to improve the accuracy of unmanned ship detection and positioning of water surface targets in complex marine environments. In complex marine environments, the attitude of the unmanned ship changes greatly, and when the photoelectricity detects the water surface target, in order to ensure successful detection, the process of searching for the target is relatively slow, which is not conducive to quickly determining the target information; when the navigation radar detects the water surface target, there are many clutter reflections of sea waves, and there are many false alarms, which may regard the waves 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 the unmanned ship to the water surface target.

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

[0004] (1) In complex sea conditions, the photoelectric equipment installed on the unmanned ship cannot complete the detection and positioning of the water surface target under the condition that the longitudinal and lateral angles of the unmanned ship change greatly.

[0005] (2) In complex sea conditions, the unmanned ship relies only on the navigation radar to detect the water surface target, and there are many false alarms, which cannot provide an accurate situation environment for the unmanned ship.

[0006] (3) The field of view angle of the photoelectric equipment is limited, and it cannot quickly and autonomously complete the detection and positioning of the water surface target around the unmanned ship.

[0007] The difficulty of solving the above problems and defects lies in that the attitude of the unmanned ship changes greatly at sea, and the pitch change of the photoelectricity needs to be adjusted in real time according to the attitude data of the unmanned ship to maintain the field of view of the photoelectricity parallel to the sea level, and the target is automatically detected and positioned according to the navigation radar information. There is much information exchange between devices, and the real-time requirement is high, and it is difficult to correctly lock the detected target at sea. SUMMARY

[0008] Therefore, the present application provides a navigation radar guided photoelectric unmanned ship horizontal plane target detection and positioning method, which can solve the above technical problems.

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

[0010] A navigation radar guided photoelectric unmanned ship horizontal plane target detection and positioning method, comprising:

[0011] Step S1: The pose measurement device, navigation radar and photoelectric device deployed on the unmanned ship are zero-position calibrated to establish the unmanned ship hull coordinate system; the unmanned ship pose data is obtained based on the pose measurement device;

[0012] Step S2: The photoelectric device obtains the unmanned ship pose data, parses the unmanned ship roll data and the unmanned ship pitch data from the unmanned ship pose data, adjusts the pitch angle of the photoelectric device based on the unmanned ship roll data or adjusts the azimuth angle of the photoelectric device based on the unmanned ship pitch data, so that the sea level is in the middle position of the photoelectric device screen;

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

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

[0015] Preferably, in the step S2, the relative azimuth angle of the photoelectric device is determined in the unmanned ship hull coordinate system, the unmanned ship roll data and the unmanned ship pitch data are parsed from the unmanned ship pose data; when the relative azimuth angle of the photoelectric device is at left side 45°, left side 135°, right side 45° and right side 135°, the pitch angle of the photoelectric device is adjusted based on the unmanned ship roll data; when the relative azimuth angle of the photoelectric device is at 0°, the azimuth angle of the photoelectric device is adjusted based on the unmanned ship pitch data;

[0016] Adjusting the pitch angle of the photoelectric device based on the unmanned ship roll data comprises:

[0017] Respectively record the change amount φ p1 and φ p2 of the pitch angle of the photoelectric device when the sea level is in the middle position of the photoelectric device screen when the azimuth angle of the photoelectric device is left side 45° and right side 135° respectively, and calculate the average value φ1,

[0018] Compensate the average value φ1 to the inertial navigation roll value change of the pose measurement device;

[0019] Respectively record the change amount φp3 and φ p4 , calculate the average value φ2,

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

[0021] The azimuth angle of the photoelectric device is adjusted based on the unmanned ship pitch data, comprising:

[0022] Record the change value φ4 of the pitch angle of the photoelectric device when the sea level is in the middle position of the photoelectric device picture, and compensate it into the change of the inertial navigation pitch value of the pose measurement device.

[0023] Preferably, the step S3, the navigation radar guides the photoelectric device to adjust the azimuth angle, comprising:

[0024] The navigation radar detects the target to be tracked located at sea level to generate a detection image, the photoelectric target detection module calculates the centroid of the detection image, obtains the azimuth of the centroid in the unmanned ship body coordinate system, converts the azimuth of the centroid in the unmanned ship body coordinate system into absolute azimuth in the geodetic coordinate system based on the heading data of the unmanned ship in the unmanned ship pose data, and sends the absolute azimuth to the photoelectric device. The control azimuth servo device corresponding to the photoelectric device keeps the azimuth angle of the photoelectric device at the absolute azimuth.

[0025] Preferably, the step S4, the photoelectric device locks the target to be tracked, comprising:

[0026] During the zooming process of the photoelectric device, the size of the recognition frame is detected in real time, and when the length or width of the recognition frame occupies 1 / 3 of the entire picture, the zooming is stopped, and the target to be tracked is locked.

[0027] The step S4, based on the distance, the unmanned ship pose data, determines the latitude and longitude of the target to be tracked, comprising:

[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] Wherein, lat is the latitude of the unmanned ship, lon is the longitude of the unmanned ship, L is the distance measured by the photoelectric device, and Φ T is the absolute azimuth, and R p is the polar radius of the earth, and R e is the equatorial radius of the earth, lat' is the latitude of the target position, and lon' is the longitude of the target position.

[0031] A navigation radar guided photoelectric unmanned ship horizontal plane target detection and positioning device, comprising:

[0032] An initialization module configured to calibrate the zero position of a pose measurement device, a navigation radar and a photoelectric device deployed on an unmanned ship, establish an unmanned ship hull coordinate system, and obtain unmanned ship pose data based on the pose measurement device;

[0033] An adjustment module configured to obtain the unmanned ship pose data from the photoelectric device, parse the unmanned ship roll data and the unmanned ship pitch data from the unmanned ship pose data, adjust the pitch angle of the photoelectric device based on the unmanned ship roll data, or adjust the azimuth angle of the photoelectric device based on the unmanned ship pitch data, so that the sea level is in the middle position of the photoelectric device screen;

[0034] A detection module configured to receive the azimuth of the target to be tracked detected by the navigation radar, and guide the photoelectric device to adjust the azimuth angle by the navigation radar, and detect the target to be tracked by the photoelectric target detection module of the photoelectric device;

[0035] A tracking module configured to lock the target to be tracked by the photoelectric device, measure the distance between the unmanned ship and the target to be tracked by laser ranging, and determine the latitude and longitude of the target to be tracked based on the distance, the unmanned ship pose data.

[0036] The computer readable storage medium provided by the application stores a plurality of instructions; the plurality of instructions are used to load and execute the method as described above by the processor.

[0037] The electronic device provided by the application comprises:

[0038] A processor for executing a plurality of instructions;

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

[0040] The plurality of instructions are used to store in the memory, load and execute the method as described above by the processor.

[0041] Advantages:

[0042] (1) The application provides a method for stabilizing the field of view angle of an optoelectronic device at sea level according to unmanned ship pose data, through the linkage of a navigation radar and an optoelectronic device, and the ability of the navigation radar to quickly scan the environment around the unmanned ship, the navigation radar data can be used to automatically guide the optoelectronic device to lock the direction of the target to be detected, and the unmanned ship can independently complete the detection and positioning of the target on the water surface.

[0043] (2) The application effectively improves the detection accuracy of the unmanned ship on the surrounding target.

[0044] (3) The application uses the optoelectronic device to detect the target detected by the radar, and eliminates the interference of the unmanned ship in constructing the surrounding situation. BRIEF DESCRIPTION OF DRAWINGS

[0045] Figure 1 The figure is a flowchart of the method for detecting and positioning the horizontal plane target of the unmanned ship guided by the navigation radar of the application;

[0046] Figure 2 The figure is a detailed flowchart of the method for detecting and positioning the horizontal plane target of the unmanned ship guided by the navigation radar of the application;

[0047] Figure 3 The figure is a schematic diagram of the unmanned ship coordinate system of the application;

[0048] Figure 4 The figure is a schematic diagram of the navigation radar guiding the optoelectronic device to point to the target to be detected of the application;

[0049] Figure 5 The figure is a structural schematic diagram of the device for detecting and positioning the horizontal plane target of the unmanned ship guided by the navigation radar of the application. DETAILED DESCRIPTION

[0050] The application will be described in detail below in combination with the drawings and examples.

[0051] As shown in the drawings, Figures 1-2 The application provides a method for detecting and positioning the horizontal plane target of the unmanned ship guided by the navigation radar of the application, which comprises:

[0052] Step S1: The pose measurement device, navigation radar and optoelectronic device deployed on the unmanned ship are zero-position calibrated, and the unmanned ship coordinate system is established; the unmanned ship pose data is obtained based on the pose measurement device;

[0053] Step S2: The optoelectronic device obtains the unmanned ship pose data, analyzes the unmanned ship roll data and the unmanned ship pitch data from the unmanned ship pose data, adjusts the pitch angle of the optoelectronic device based on the unmanned ship roll data or adjusts the azimuth angle of the optoelectronic device based on the unmanned ship pitch data, so that the sea level is at the middle position of the picture of the optoelectronic device;

[0054] Step S3: the optoelectronic device receives the bearing of the target to be tracked detected by the navigation radar, the navigation radar guides the optoelectronic device to adjust the bearing angle, 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, measures the distance between the unmanned ship and the target to be tracked by laser ranging, and determines the latitude and longitude of the target to be tracked based on the distance, the unmanned ship pose data of the unmanned ship.

[0056] The present application measures the real-time pose data of the unmanned ship by the unmanned ship pose measurement device, realizes the self-stabilization of the pitch direction of the optoelectronic device based on the attitude data, detects the sea level target by the navigation radar, outputs the target bearing, realizes the bearing positioning of the optoelectronic device based on the bearing data, and measures the distance of the target from the unmanned ship by the optoelectronic device.

[0057] Further, the pose measurement device is an inertial navigation measurement device.

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

[0059] In the step S2, the relative bearing angle of the optoelectronic device is determined in the unmanned ship body coordinate system, the unmanned ship roll data and the unmanned ship pitch data are analyzed from the unmanned ship pose data, when the relative bearing angle of the optoelectronic device is at the left side 45°, the left side 135°, the right side 45° and the right side 135°, the pitch angle of the optoelectronic device is adjusted based on the unmanned ship roll data, and when the relative bearing angle of the optoelectronic device is at 0°, the bearing angle of the optoelectronic device is adjusted based on the unmanned ship pitch data.

[0060] Further, adjusting the pitch angle of the optoelectronic device based on the unmanned ship roll data comprises:

[0061] Respectively record the change amount φ of the pitch angle of the optoelectronic device when the bearing angle of the optoelectronic device is at the left side 45° and the right side 135°, and the sea level is at the middle position of the picture of the optoelectronic device p1 And φ p2 , calculate the average value φ1,

[0062] Compensate the average value φ1 to the inertial navigation roll value change of the pose measurement device;

[0063] Respectively record the change amount φ of the pitch angle of the optoelectronic device when the bearing angle of the optoelectronic device is at the left side 135° and the right side 45°, and the sea level is at the middle position of the picture of the optoelectronic device p3and φ p4 , calculate the average value φ2,

[0064] Calculate the average value φ3 of φ1 and φ2, φ3 = (φ1 + φ2) / 2, and compensate φ3 to the change of the inertial navigation roll value of the pose measurement device.

[0065] The above correction can eliminate the influence of the unmanned ship roll on the photoelectric device keeping the sea level in the middle of the screen.

[0066] Further, the adjustment of the azimuth angle of the photoelectric device based on the unmanned ship pitch data comprises:

[0067] Record the change value φ4 of the pitch angle of the photoelectric device when the sea level is in the middle of the screen of the photoelectric device, and compensate it to the change of the inertial navigation pitch value of the pose measurement device.

[0068] The above correction can eliminate the influence of the unmanned ship roll on the photoelectric device keeping the sea level in the middle of the screen.

[0069] The step S3: the photoelectric device receives the azimuth of the to-be-tracked target detected by the navigation radar, and the navigation radar guides the photoelectric device to adjust the azimuth angle, and the photoelectric target detection module of the photoelectric device detects the to-be-tracked target, wherein:

[0070] The navigation radar guides the photoelectric device to adjust the azimuth angle, comprising:

[0071] The navigation radar detects the to-be-tracked target located at the sea level, generates a detection image, the photoelectric target detection module calculates the centroid of the detection image, obtains the azimuth of the centroid in the unmanned ship body coordinate system, converts the azimuth of the centroid in the unmanned ship body coordinate system into absolute azimuth in the geodetic coordinate system based on the heading data of the unmanned ship in the unmanned ship pose data, and sends the absolute azimuth to the photoelectric device. The control azimuth servo device corresponding to the photoelectric device keeps the azimuth angle of the photoelectric device at the absolute azimuth.

[0072] Further, the conversion formula for converting the azimuth of the centroid in the unmanned ship body coordinate system into absolute azimuth in the geodetic coordinate system is:

[0073]

[0074] Wherein, θ is the absolute azimuth, α is the heading angle of the unmanned ship, and β is the azimuth of the centroid in the unmanned ship body coordinate system.

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

[0076] By zooming and focusing means, the field of view size of the photoelectric lens of the photoelectric device is controlled, the image is kept clear during zooming and focusing automatically, and the photoelectric identification module is facilitated to detect.

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

[0078] The step S4, the photoelectric device locks the target to be tracked, includes:

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

[0080] The step S4, based on the distance, the unmanned ship pose data, determines the latitude and longitude of the target to be tracked, 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] Wherein, lat is the latitude of the unmanned ship, lon is the longitude of the unmanned ship, L is the distance measured by the photoelectric device, Φ T is the absolute azimuth, R p is the polar radius of the earth, R e is the equatorial radius of the earth, lat' is the latitude of the target position, and lon' is the longitude of the target position.

[0084] In the application, after the photoelectric device locks the target, the distance between the target to be detected and the unmanned ship is measured by laser ranging, and the latitude and longitude of the target to be detected are calculated according to the current photoelectric absolute azimuth and the position information in the unmanned ship pose data measured by the inertial navigation measurement device. The target to be detected is measured 10 times, when the measured distance is invalid, the latitude and longitude are not calculated. The effective position of the target to be detected is taken, the clustering operation is performed, and the final estimated position of the target to be detected is output.

[0085] The application further provides a horizontal plane target detection and positioning device of an unmanned ship guided by a navigation radar and a photoelectric device, which comprises:

[0086] An initialization module is configured to calibrate the zero position of a pose measurement device, a navigation radar and a photoelectric device arranged on the unmanned ship, establish an unmanned ship hull coordinate system, and obtain unmanned ship pose data based on the pose measurement device;

[0087] An adjustment module is configured to obtain the unmanned ship pose data by the photoelectric device, analyze unmanned ship roll data and unmanned ship pitch data from the unmanned ship pose data, adjust the pitch angle of the photoelectric device based on the unmanned ship roll data, or adjust the azimuth angle of the photoelectric device based on the unmanned ship pitch data, so that the sea level is in the middle position of the photoelectric device screen.

[0088] A detection module is configured to receive the azimuth of a target to be tracked detected by the navigation radar, guide the photoelectric device to adjust the azimuth angle by the navigation radar, and detect the target to be tracked by a photoelectric target detection module of the photoelectric device.

[0089] A tracking module is configured to lock the target to be tracked by the photoelectric device, measure the distance between the unmanned ship and the target to be tracked by laser ranging, and determine the longitude and latitude of the target to be tracked based on the distance, the unmanned ship pose data and the unmanned ship pose data.

[0090] The specific embodiments above only describe the design principles of the application, and the shapes and names of the components in the description can be different and are not limited. Therefore, the person skilled in the art can modify or replace the technical solutions described in the foregoing embodiments; and these modifications and replacements do not deviate from the purpose and technical solutions of the application, and should all belong to the protection scope of the application.

Claims

1. A method for detecting and locating horizontal targets on an unmanned surface vessel guided by navigation radar and electro-optical systems, characterized in that, The method comprises: Step S1: The pose measurement device, navigation radar and photoelectric device deployed on the unmanned ship are zero-position calibrated to establish the unmanned ship hull coordinate system; the unmanned ship pose data is obtained based on the pose measurement device; Step S2: The photoelectric device obtains the unmanned ship pose data, parses the unmanned ship roll data and the unmanned ship pitch data from the unmanned ship pose data, adjusts the pitch angle of the photoelectric device based on the unmanned ship roll data or adjusts the azimuth angle of the photoelectric device based on the unmanned ship pitch data, so that the sea level is in the middle position of the photoelectric device picture; Step S3: The photoelectric device receives the azimuth of the to-be-tracked target detected by the navigation radar, the navigation radar guides the photoelectric device to adjust the azimuth angle, and the photoelectric target detection module of the photoelectric device detects the to-be-tracked target; Step S4: The photoelectric device locks the to-be-tracked target, measures the distance between the unmanned ship and the to-be-tracked target through laser ranging; based on the distance, the unmanned ship pose data, the latitude and longitude of the to-be-tracked target are determined; In the step S2, the relative azimuth angle of the photoelectric device is determined in the unmanned ship hull coordinate system, the unmanned ship roll data and the unmanned ship pitch data are parsed from the unmanned ship pose data; when the relative azimuth angle of the photoelectric device is at left side 45°, left side 135°, right side 45° and right side 135°, the pitch angle of the photoelectric device is adjusted based on the unmanned ship roll data; when the relative azimuth angle of the photoelectric device is at 0°, the azimuth angle of the photoelectric device is adjusted based on the unmanned ship pitch data; Adjusting the pitch angle of the photoelectric device based on the unmanned ship roll data comprises: Record the azimuth of the photoelectric device as port 45° and starboard 135° respectively, and the change amount φ of the elevation angle of the photoelectric device when the sea level is in the middle of the photoelectric device picture p1 and φ p2 , calculate the average value φ1, Compensating the average value φ1 to the inertial navigation roll value change of the pose measurement device; Then, the azimuth angle of the photoelectric device is recorded as port 135° and starboard 45° respectively, and the change of the elevation angle of the photoelectric device is recorded as φ p3 and φ p4 , and the average value φ2 is calculated. Calculating the average value φ3 of φ1 and φ2, φ3=(φ1+φ2) / 2, and compensating φ3 to the inertial navigation roll value change of the pose measurement device; Adjusting the azimuth angle of the photoelectric device based on the unmanned ship pitch data comprises: Recording the change value φ4 of the pitch angle of the photoelectric device when the sea level is in the middle position of the photoelectric device picture, and compensating it to the inertial navigation pitch value change of the pose measurement device.

2. The method of claim 1, wherein, In the step S3, the navigation radar guides the photoelectric device to adjust the azimuth angle, comprising: The navigation radar detects the to-be-tracked target located at sea level to generate a detection image, the photoelectric target detection module calculates the centroid of the detection image, obtains the azimuth of the centroid in the unmanned ship hull coordinate system, converts the azimuth of the centroid in the unmanned ship hull coordinate system into an absolute azimuth in the geodetic coordinate system based on the heading data of the unmanned ship in the unmanned ship pose data, and sends the absolute azimuth to the photoelectric device. The control azimuth servo device corresponding to the photoelectric device keeps the azimuth angle of the photoelectric device at the absolute azimuth.

3. The method of any one of claims 1-2, wherein, In the step S4, the photoelectric device locks the to-be-tracked target, comprising: During zooming of the photoelectric device, the size of the recognition frame is detected in real time, and when the length or width of the recognition frame occupies 1 / 3 of the entire picture, zooming is stopped and the target to be tracked is locked.

4. The method of claim 3, wherein, The step S4 comprises: lat' = lat + L*cosΦ T / (R p +(R e -R p )*(90-lat) / 90)*180 / π lon' = Ion + L * sinΦ T / ((R p +(R e -R p )*(90-lat) / 90)*cos(lat*π / 180)) *180 / π Wherein, lat is the latitude of the unmanned ship, lon is the longitude of the unmanned ship, L is the measured distance of the photoelectric device, and Φ T is the absolute azimuth, R p is the polar radius of the earth, R e is the equatorial radius of the earth, lat' is the latitude of the target position, and lon' is the longitude of the target position.

5. A navigation radar guided photoelectric unmanned surface vehicle planar target detection and positioning device, characterized in that, The device comprises: An initialization module configured to calibrate the pose measurement device, the navigation radar and the photoelectric device deployed on the unmanned ship to zero, and establish an unmanned ship body coordinate system; and obtain the unmanned ship pose data based on the pose measurement device; An adjustment module configured to obtain the unmanned ship pose data by the photoelectric device, analyze the unmanned ship roll data and the unmanned ship pitch data from the unmanned ship pose data, adjust the pitch angle of the photoelectric device based on the unmanned ship roll data, or adjust the azimuth angle of the photoelectric device based on the unmanned ship pitch data, so that the sea level is in the middle position of the picture of the photoelectric device; A detection module configured to receive the azimuth of the target to be tracked detected by the navigation radar, guide the photoelectric device to adjust the azimuth angle by the navigation radar, and detect the target to be tracked by the photoelectric target detection module of the photoelectric device; A tracking module configured to lock the target to be tracked by the photoelectric device, measure the distance between the unmanned ship and the target to be tracked by laser ranging, and determine the latitude and longitude of the target to be tracked based on the distance and the unmanned ship pose data. In the unmanned ship body coordinate system, the relative azimuth angle of the photoelectric device is determined, and the unmanned ship roll data and the unmanned ship pitch data are analyzed from the unmanned ship pose data; when the relative azimuth angle of the photoelectric device is at left side 45°, left side 135°, right side 45° and right side 135°, the pitch angle of the photoelectric device is adjusted based on the unmanned ship roll data; when the relative azimuth angle of the photoelectric device is at 0°, the azimuth angle of the photoelectric device is adjusted based on the unmanned ship pitch data. Adjusting the pitch angle of the photoelectric device based on the unmanned ship roll data comprises: Record the change amount φ of the elevation angle of the photoelectric device when the sea level is in the middle position of the photoelectric device picture when the azimuth angle of the photoelectric device is left 45° and right 135° respectively p1 and φ p2 , calculate the average value φ1 thereof, Compensating the average value φ1 to the inertial navigation roll value change of the pose measurement device; Then, the azimuth angle of the photoelectric device is recorded as port 135° and starboard 45° respectively, and the change amount φ of the elevation angle of the photoelectric device is recorded when the sea level is in the middle of the photoelectric device screen p3 and φ p4 , and the average value φ2 is calculated Calculating the average value φ3 of φ1 and φ2, φ3=(φ1+φ2) / 2, and compensating φ3 to the inertial navigation roll value change of the pose measurement device; Adjusting the azimuth angle of the photoelectric device based on the unmanned ship pitch data comprises: Recording the change value φ4 of the pitch angle of the photoelectric device when the sea level is in the middle position of the picture of the photoelectric device, and compensating φ4 to the inertial navigation pitch value change of the pose measurement device.

6. A computer readable storage medium, the storage medium storing a plurality of instructions; the plurality of instructions are used to load and execute the method of any one of claims 1-4 by a processor.

7. An electronic device, comprising: The electronic device comprises: A processor for executing a plurality of instructions; A memory for storing a plurality of instructions; The plurality of instructions are used to store in the memory, and load and execute the method of any one of claims 1-4 by the processor.

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