Unmanned ship water surface target photoelectric autonomous detection and positioning method and device

Abstract

The invention discloses a photoelectric autonomous detection and positioning method and device for a water surface target of an unmanned ship, and the method comprises the steps: determining a plurality of water surface detection regions, and simplifying each water surface detection region into a corresponding external rectangle; for each water surface detection area, determining the absolute azimuth angles of the four vertexes of the external rectangle relative to the current position of the unmanned ship; obtaining a current photoelectric target side angle, and determining a current photoelectric side angle interval; a photoelectric turret of the photoelectric equipment carries out sector scanning in the current photoelectric side angle interval; in the sector scanning process, the real-time attitude of the unmanned ship is obtained, the compensation amount is determined, and the photoelectric pitch angle is compensated with the compensation amount; 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 pose data of the unmanned ship. According to the method, autonomous detection and positioning of targets in multiple regions are realized, the difficulty of severe attitude and high-frequency change is overcome, and the target positioning precision is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of target detection and positioning, and in particular to a method and device for photoelectric autonomous detection and positioning of surface targets of an unmanned boat. Background Art

[0002] The unmanned boat surface target detection and positioning technology is mainly used for the detection of shore and sea targets. It uses laser radar, navigation radar, monocular camera and other environmental perception equipment to identify and locate shore or sea targets. Usually, one or more devices are used to measure the target type and position.

[0003] The prior art is a data fusion model algorithm based on lidar and monocular vision (CN114677531B), which involves generating a quadrangular pyramid in the camera coordinate system based on lidar point cloud data and monocular video images, using a sliding quadrangular prism algorithm to aggregate the target point cloud, and combining a histogram to screen the target center point cloud to complete the recognition and positioning of the target.

[0004] However, in the prior art, the target position is solved by converting the coordinate system of the target identified by the camera through laser radar and camera. However, the detection distance of laser radar is limited, and it is impossible to detect and locate long-distance targets, such as targets 3 kilometers or even farther away.

[0005] Both the laser radar and the monocular camera are fixed to the unmanned boat. When the sea conditions are bad and the unmanned boat's posture changes drastically and frequently, its detection and positioning effects will be reduced. Summary of the invention

[0006] In view of this, the present invention provides a method and device for autonomous photoelectric detection and positioning of surface targets of an unmanned boat, which can solve the above technical problems.

[0007] In order to solve the above technical problems, the present invention is implemented as follows.

[0008] An optoelectronic autonomous detection and positioning method for an unmanned boat surface target, comprising:

[0009] Step S1: Generate a detection plan according to the detection task and determine a number of water surface detection areas, simplifying each water surface detection area into its corresponding circumscribed rectangle;

[0010] Step S2: For each water surface detection area, execute:

[0011] Step S21: Based on the latitude and longitude coordinates of the four vertices of the circumscribed rectangle corresponding to the current position of the unmanned boat and the water surface detection area, determine the absolute azimuths of the four vertices of the circumscribed rectangle relative to the current position of the unmanned boat;

[0012] Step S22: based on the absolute azimuth and the current heading angle of the unmanned boat, convert the absolute azimuth from the angle in the earth coordinate system to the unmanned boat coordinate system to obtain the current photoelectric target side angle; determine the boundary of the photoelectric target side angle that can be detected by the photoelectric equipment configured on the unmanned boat; determine the current photoelectric side angle interval based on the boundary of the photoelectric target side angle and the current photoelectric target side angle;

[0013] Step S23: The optoelectronic turret of the optoelectronic device performs a fan scan within the current optoelectronic side angle interval; during the fan scan, the real-time attitude of the unmanned boat is obtained and the compensation amount is determined, and the compensation amount is compensated to the optoelectronic pitch angle;

[0014] Step S24: 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 position data, the longitude and latitude of the target to be tracked are determined.

[0015] Preferably, the absolute azimuths of the four vertices of the circumscribed rectangle relative to the current position of the unmanned boat are determined, where:

[0016] Φ T =γ+Φ δ

[0017]

[0018] disX=cosα*cosΦ p *sinΦ a +sinα*sinΦ p

[0019] disY=sinα*sinβ*cosΦ p *sinΦ a +cosα*cosΦ p *cosΦ a -cosβ*sinα*sinΦ p

[0020] Among them, Φ T is the absolute azimuth corresponding to a vertex of the circumscribed rectangle, Φ δ is the projection angle of the photoelectric azimuth on the horizontal plane, γ is the heading angle of the unmanned boat, α and β are the pitch angle and roll angle of the unmanned boat respectively, Φ p , Φ a are the optoelectronic pitch angle and optoelectronic azimuth respectively; disX and disY are the length along the E-axis and the projection length along the N-axis in the geodetic coordinate system, respectively, with the optoelectronic azimuth as the unit of 1; the geodetic coordinate system refers to the position of the unmanned boat as the origin, the north direction as the N-axis, the east direction as the E-axis, and the vertical upward direction as the U-axis.

[0021] Preferably, in step S2, the absolute azimuth angle is converted from the angle in the earth coordinate system to the unmanned boat coordinate system to obtain the current photoelectric target side angle, and the conversion formula is:

[0022]

[0023] Among them, x, y, z are the azimuth, roll and pitch angles of the target relative to the position of the unmanned boat, and x′, y′, z′ are the azimuth, roll and pitch angles of the target in the coordinate system of the unmanned boat.

[0024] Preferably, the step S23, obtaining the real-time attitude of the unmanned boat and determining the compensation amount, and compensating the compensation amount to the photoelectric pitch angle, that is, obtaining the real-time attitude of the unmanned boat, determining the compensation amount based on the real-time attitude of the unmanned boat, and compensating the compensation amount to the photoelectric pitch angle, wherein:

[0025] σ=Φ p -α1

[0026] In the formula, σ is the compensation amount, Φ p is the optoelectronic pitch angle, and α1 is the longitudinal tilt angle of the unmanned boat.

[0027] Preferably, step S24: 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, wherein:

[0028] According to the latitude and longitude of the unmanned boat, the photoelectric measurement distance L and the absolute azimuth Φ T , and the Earth's polar radius R p 、Earth's equatorial radius R e , get the longitude and latitude of the target to be tracked, that is

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

[0030] lon′=lon+L*sinΦ T / ((R p +(R e -R p )*(90-lat) / 90*cos(lat*π / 180)*180 / π

[0031] Among them, lat is the latitude of the unmanned boat, lon is the longitude of the unmanned boat, L is the photoelectric measurement distance, Φ T is the absolute azimuth, R p is the Earth's polar radius, R eis the equatorial radius of the earth, lat' is the latitude of the target to be tracked, and lon' is the longitude of the target to be tracked.

[0032] An unmanned boat surface target photoelectric autonomous detection and positioning device, comprising:

[0033] Initialization module: configured to generate a detection plan according to the detection task and determine a number of water surface detection areas, and simplify each water surface detection area into its corresponding circumscribed rectangle;

[0034] Detection module: configured to trigger the following submodules for each water surface detection area:

[0035] The first submodule is configured to determine the absolute azimuths of the four vertices of the circumscribed rectangle relative to the current position of the unmanned boat based on the latitude and longitude coordinates of the four vertices of the circumscribed rectangle corresponding to the current position of the unmanned boat and the water surface detection area;

[0036] The second submodule is configured to convert the absolute azimuth from the angle in the earth coordinate system to the unmanned boat coordinate system based on the absolute azimuth and the current heading angle of the unmanned boat, and obtain the current photoelectric target side angle; determine the boundary of the photoelectric target side angle that can be detected by the photoelectric equipment configured on the unmanned boat; determine the current photoelectric side angle interval based on the boundary of the photoelectric target side angle and the current photoelectric target side angle;

[0037] The third submodule is configured to have the optoelectronic turret of the optoelectronic device perform a fan scan within the current optoelectronic side angle interval; during the fan scan, the real-time attitude of the unmanned boat is obtained and the compensation amount is determined, and the compensation amount is compensated to the optoelectronic pitch angle;

[0038] The fourth submodule: is configured as an optoelectronic device to lock the target to be tracked, and measures the distance between the unmanned boat and the target to be tracked through laser ranging; based on the distance and the unmanned boat's position data, the longitude and latitude of the target to be tracked are determined.

[0039] 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.

[0040] An electronic device provided by the present invention is characterized in that the electronic device comprises:

[0041] A processor, which is used to execute multiple instructions;

[0042] A memory for storing a plurality of instructions;

[0043] 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.

[0044] Beneficial effects:

[0045] (1) In order to realize the efficient detection and positioning of long-distance targets on the shore or at sea by unmanned boats under high sea conditions, the present invention designs an autonomous detection plan and target positioning method based on an optoelectronic system, realizes autonomous detection and positioning of targets in multiple areas, overcomes the difficulties of drastic posture and high-frequency changes, and ensures the accuracy of target positioning.

[0046] (2) The present invention can realize target detection and positioning in designated multiple areas, and the detection distance is long, reducing the risk of the unmanned boat being discovered.

[0047] (3) The present invention compensates the attitude of the unmanned boat into the optoelectronic attitude, thereby improving the target positioning accuracy and reducing the impact of drastic and high-frequency changes in the attitude of the unmanned boat.

[0048] (4) The target detection process of the unmanned boat of the present invention is fully autonomous and can adapt to high sea conditions. In the absence of communication, it can execute plans beyond visual range and obtain the situation on the shore or at sea. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 It is a schematic diagram of the process of the photoelectric autonomous detection and positioning method of the unmanned boat surface target of the present invention;

[0050] Figure 2 It is a detailed flow chart of the photoelectric autonomous detection and positioning method of the unmanned boat surface target of the present invention;

[0051] Figure 3 A schematic diagram of the relative position of the target of the present invention in the unmanned boat hull coordinate system and the photoelectric coordinate system;

[0052] Figure 4 It is a structural schematic diagram of the optoelectronic autonomous detection and positioning device of the unmanned boat surface target of the present invention. DETAILED DESCRIPTION

[0053] The present invention is described in detail below in conjunction with the accompanying drawings and embodiments.

[0054] like Figure 1 As shown, the present invention proposes an optoelectronic autonomous detection and positioning method for unmanned boat surface targets, the method comprising:

[0055] Step S1: Generate a detection plan according to the detection task and determine a number of water surface detection areas, simplifying each water surface detection area into its corresponding circumscribed rectangle;

[0056] Step S2: For each water surface detection area, execute:

[0057] Step S21: Based on the latitude and longitude coordinates of the four vertices of the circumscribed rectangle corresponding to the current position of the unmanned boat and the water surface detection area, determine the absolute azimuths of the four vertices of the circumscribed rectangle relative to the current position of the unmanned boat;

[0058] Step S22: based on the absolute azimuth and the current heading angle of the unmanned boat, convert the absolute azimuth from the angle in the earth coordinate system to the unmanned boat coordinate system to obtain the current photoelectric target side angle; determine the boundary of the photoelectric target side angle that can be detected by the photoelectric equipment configured on the unmanned boat; determine the current photoelectric side angle interval based on the boundary of the photoelectric target side angle and the current photoelectric target side angle;

[0059] Step S23: The optoelectronic turret of the optoelectronic device performs a fan scan within the current optoelectronic side angle interval; during the fan scan, the real-time attitude of the unmanned boat is obtained and the compensation amount is determined, and the compensation amount is compensated to the optoelectronic pitch angle;

[0060] Step S24: 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 position data, the longitude and latitude of the target to be tracked are determined.

[0061] like Figure 2 As shown, in the present invention, in step S1, according to the detection task, the detection area is determined and a detection plan is formulated. The plan can be composed of multiple segments, each segment can perform photoelectric detection on the same or different detection areas, the speed can be freely set, the number of target confirmations can be set, etc. The detection area is an arbitrary polygonal area. During photoelectric detection, according to the characteristics of the optical video field, the area circumscribed rectangle can be used for simplification to improve the real-time calculation and the efficiency of the operation plan.

[0062] In step S2, according to the detection plan, when the unmanned boat sails to a section without a detection area, the photoelectric is locked on the bow of the unmanned boat; if it sails to a section with a detection area, the absolute azimuth of the vertex of the detection area relative to the boat position is calculated based on the current boat position and the longitude and latitude coordinates of the vertices of the rectangle outside the detection area. In order to determine the initial photoelectric side angle range, it is necessary to convert the angle in the geodetic coordinate system into the unmanned boat coordinate system, and determine the photoelectric side angle range according to the current posture change of the boat. Combined with the current side angle of the photoelectric, the minimum rotation angle of the photoelectric rotation is calculated, and the rotation direction of the photoelectric is determined, so that the photoelectric can be quickly positioned to the detection side angle boundary.

[0063] In step S3, when the unmanned boat is sailing in a section with a detection area, the detection area does not change, but the boat position changes, then the side angle that the photoelectric should detect should also be updated accordingly. The same determination method as step S2 is used to obtain the side angle interval of the photoelectric detection in real time.

[0064] In step S4, after obtaining the real-time photoelectric detection side angle interval, the photoelectric turret adopts the fan scanning mode, that is, after the photoelectric side angle reaches the left boundary of the detection side angle interval, the photoelectric turret changes its rotation direction to rotate toward the right boundary of the detection side angle interval. During the fan scanning process, the photoelectric compensates for the photoelectric pitch attitude according to the posture change of the unmanned boat, so that the water antenna is basically stable in the middle of the vertical direction of the photoelectric screen. The photoelectric recognition and tracking module identifies and locks the target in the area, and adjusts the position of the target in the picture. When it is in the center of the picture, it uses a laser rangefinder to measure the distance to the target and obtain the target distance.

[0065] According to the attitude (bow, roll, pitch) and optoelectronic attitude (azimuth, pitch) of the unmanned boat, the absolute direction of the target relative to the unmanned boat is obtained, and then the target is positioned according to the target distance.

[0066] like Figure 3 As shown in the figure, the unmanned boat platform has 6 degrees of freedom, including pitch α around the X-axis, roll β around the Y-axis, and heading γ around the Z-axis.

[0067] The photoelectric detection device has 2 degrees of freedom, which is the azimuth angle Φ around the Z' axis. a , the pitch angle Φ around the X' axis p .

[0068] Furthermore, the absolute azimuths of the four vertices of the circumscribed rectangle relative to the current position of the unmanned boat are determined, including:

[0069] Φ T =γ+Φ δ

[0070]

[0071] disX=cosα*cosΦ p *sinΦ a +sinα*sinΦ p

[0072] disY=sinα*sinβ*cosΦ p *sinΦ a +cosα*cosΦ p *cosΦ a -cosβ*sinα*sinΦ p

[0073] Among them, Φ T is the absolute azimuth corresponding to a vertex of the circumscribed rectangle, Φ δ is the projection angle of the photoelectric azimuth on the horizontal plane, γ is the heading angle of the unmanned boat, α and β are the pitch angle and roll angle of the unmanned boat respectively, Φ p , Φ aare the optoelectronic pitch angle and optoelectronic azimuth respectively; disX and disY are the length along the E-axis and the projection length along the N-axis in the geodetic coordinate system, respectively, with the optoelectronic azimuth as the unit of 1; the geodetic coordinate system refers to the position of the unmanned boat as the origin, the north direction as the N-axis, the east direction as the E-axis, and the vertical upward direction as the U-axis.

[0074] Furthermore, in step S2, the absolute azimuth angle is converted from the angle in the earth coordinate system to the unmanned boat coordinate system to obtain the current photoelectric target side angle, and the conversion formula is:

[0075]

[0076] Among them, x, y, z are the azimuth, roll and pitch angles of the target relative to the position of the unmanned boat, and x′, y′, z′ are the azimuth, roll and pitch angles of the target in the coordinate system of the unmanned boat.

[0077] The step S23, obtaining the real-time posture of the unmanned boat and determining the compensation amount, and compensating the compensation amount to the photoelectric pitch angle, that is, obtaining the real-time posture of the unmanned boat, determining the compensation amount based on the real-time posture of the unmanned boat, and compensating the compensation amount to the photoelectric pitch angle, wherein:

[0078] σ=Φ p -α1

[0079] In the formula, σ is the compensation amount, Φ p is the optoelectronic pitch angle, and α1 is the longitudinal tilt angle of the unmanned boat.

[0080] Step S24: 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 position data, the longitude and latitude of the target to be tracked are determined, where:

[0081] According to the latitude and longitude (lat, lon) of the unmanned boat, the photoelectric measurement distance L and the absolute azimuth φ T , and the Earth's polar radius R p 、Earth's equatorial radius R e , get the longitude and latitude (lat',lon') of the target to be tracked:

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

[0083] lon′=lon+L*sinΦ T / ((R p +(R e -R p)*(90-lat) / 90*cos(lat*π / 180)*180 / π

[0084] Among them, lat is the latitude of the unmanned boat, lon is the longitude of the unmanned boat, L is the photoelectric measurement distance, 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 to be tracked, and lon' is the longitude of the target to be tracked.

[0085] Furthermore, the rotation matrix of the body coordinate system O-XYZ to the photoelectric coordinate system O'-X'Y'Z' is

[0086]

[0087] In the process of measuring the distance between the unmanned boat and the target to be tracked by laser ranging, the optical axis of the optoelectronic device is locked at the centroid of the target to be tracked. By projecting the optoelectronic attitude when the target is locked onto the XOY plane and then converting it to the geodetic coordinate system, the deflection angle of the optical axis relative to the bow of the unmanned boat in the geodetic coordinate system can be obtained.

[0088] In the present invention, the target in the detection area is located, and when the single target ranging number parameter limit is reached, the target is switched according to the fan scanning direction. According to the detection requirements, the single area is subject to single detection or multiple reciprocating detection or single target confirmation times and other restriction conditions to control the detection behavior of the photoelectric device on the detection area. After the photoelectric device completes the regional detection conditions, the detection area is switched. Or the unmanned boat sails to the next section and switches the detection area according to the detection plan. This cycle is repeated until the detection plan is completed.

[0089] The present invention also provides an unmanned boat surface target photoelectric autonomous detection and positioning device, the device comprising:

[0090] Initialization module: configured to generate a detection plan according to the detection task and determine a number of water surface detection areas, and simplify each water surface detection area into its corresponding circumscribed rectangle;

[0091] Detection module: configured to trigger the following submodules for each water surface detection area:

[0092] The first submodule is configured to determine the absolute azimuth angles of the four vertices of the circumscribed rectangle relative to the current position of the unmanned boat based on the latitude and longitude coordinates of the four vertices of the circumscribed rectangle corresponding to the current position of the unmanned boat and the water surface detection area;

[0093] The second submodule is configured to convert the absolute azimuth from the angle in the earth coordinate system to the unmanned boat coordinate system based on the absolute azimuth and the current heading angle of the unmanned boat, and obtain the current photoelectric target side angle; determine the boundary of the photoelectric target side angle that can be detected by the photoelectric equipment configured on the unmanned boat; determine the current photoelectric side angle interval based on the boundary of the photoelectric target side angle and the current photoelectric target side angle;

[0094] The third submodule is configured to have the optoelectronic turret of the optoelectronic device perform a fan scan within the current optoelectronic side angle interval; during the fan scan, the real-time attitude of the unmanned boat is obtained and the compensation amount is determined, and the compensation amount is compensated to the optoelectronic pitch angle;

[0095] The fourth submodule: is configured as an optoelectronic device to lock the target to be tracked, and measures the distance between the unmanned boat and the target to be tracked through laser ranging; based on the distance and the unmanned boat's position data, the longitude and latitude of the target to be tracked are determined.

[0096] 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. An autonomous photoelectric detection and positioning method for unmanned boat surface targets, characterized in that: The method comprises: Step S1: Generate a detection plan according to the detection task and determine a number of water surface detection areas, simplifying each water surface detection area into its corresponding circumscribed rectangle; Step S2: For each water surface detection area, execute: Step S21: Based on the latitude and longitude coordinates of the four vertices of the circumscribed rectangle corresponding to the current position of the unmanned boat and the water surface detection area, determine the absolute azimuths of the four vertices of the circumscribed rectangle relative to the current position of the unmanned boat; Step S22: based on the absolute azimuth and the current heading angle of the unmanned boat, convert the absolute azimuth from the angle in the earth coordinate system to the unmanned boat coordinate system to obtain the current photoelectric target side angle; determine the boundary of the photoelectric target side angle that can be detected by the photoelectric equipment configured on the unmanned boat; determine the current photoelectric side angle interval based on the boundary of the photoelectric target side angle and the current photoelectric target side angle; Step S23: The optoelectronic turret of the optoelectronic device performs a fan scan within the current optoelectronic side angle interval; during the fan scan, the real-time attitude of the unmanned boat is obtained and the compensation amount is determined, and the compensation amount is compensated to the optoelectronic pitch angle; Step S24: 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 position data, the longitude and latitude of the target to be tracked are determined.

2. The method according to claim 1, characterized in that Determine the absolute azimuths of the four vertices of the circumscribed rectangle relative to the current position of the unmanned boat, where: F T =γ+Φ δ disX=cosα*cosΦ p *sinΦ a +sinα*sinφ p disY=sinα*sinβ*cosΦ p *sinΦ a +cosα*cosφ p *cosΦ a -cosβ*sinα*sinΦ p Among them, Φ T is the absolute azimuth corresponding to a vertex of the circumscribed rectangle, Φ δ is the projection angle of the photoelectric azimuth on the horizontal plane, γ is the heading angle of the unmanned boat, α and β are the pitch angle and roll angle of the unmanned boat respectively, Φ p , Φ a are the optoelectronic pitch angle and optoelectronic azimuth respectively; disX and disY are the length along the E-axis and the projection length along the N-axis in the geodetic coordinate system, respectively, with the optoelectronic azimuth as the unit of 1; the geodetic coordinate system refers to the position of the unmanned boat as the origin, the north direction as the N-axis, the east direction as the E-axis, and the vertical upward direction as the U-axis.

3. The method according to claim 2, characterized in that In step S2, the absolute azimuth angle is converted from the angle in the earth coordinate system to the unmanned boat coordinate system to obtain the current photoelectric target side angle. The conversion formula is: Among them, x, y, z are the azimuth, roll and pitch angles of the target relative to the position of the unmanned boat, and x′, y′, z′ are the azimuth, roll and pitch angles of the target in the coordinate system of the unmanned boat.

4. The method as claimed in claim 3, characterized in that The step S23, obtaining the real-time posture of the unmanned boat and determining the compensation amount, and compensating the compensation amount to the photoelectric pitch angle, that is, obtaining the real-time posture of the unmanned boat, determining the compensation amount based on the real-time posture of the unmanned boat, and compensating the compensation amount to the photoelectric pitch angle, wherein: σ=Φ p -a1 In the formula, σ is the compensation amount, Φ p is the optoelectronic pitch angle, and α1 is the longitudinal tilt angle of the unmanned boat.

5. The method according to any one of claims 2 to 4, characterized in that: Step S24: 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 position data, the longitude and latitude of the target to be tracked are determined, where: According to the latitude and longitude of the unmanned boat, the photoelectric measurement distance L and the absolute azimuth Φ T , and the Earth's polar radius R p 、Earth's equatorial radius R e , get the longitude and latitude of the target to be tracked, that is 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 photoelectric measurement distance, 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 to be tracked, and lon' is the longitude of the target to be tracked.

6. An unmanned boat surface target photoelectric autonomous detection and positioning device, characterized in that: The device comprises: Initialization module: configured to generate a detection plan according to the detection task and determine a number of water surface detection areas, and simplify each water surface detection area into its corresponding circumscribed rectangle; Detection module: configured to trigger the following submodules for each water surface detection area: The first submodule is configured to determine the absolute azimuths of the four vertices of the circumscribed rectangle relative to the current position of the unmanned boat based on the latitude and longitude coordinates of the four vertices of the circumscribed rectangle corresponding to the current position of the unmanned boat and the water surface detection area; The second submodule is configured to convert the absolute azimuth from the angle in the earth coordinate system to the unmanned boat coordinate system based on the absolute azimuth and the current heading angle of the unmanned boat, and obtain the current photoelectric target side angle; determine the boundary of the photoelectric target side angle that can be detected by the photoelectric equipment configured on the unmanned boat; determine the current photoelectric side angle interval based on the boundary of the photoelectric target side angle and the current photoelectric target side angle; The third submodule is configured to have the optoelectronic turret of the optoelectronic device perform a fan scan within the current optoelectronic side angle interval; during the fan scan, the real-time attitude of the unmanned boat is obtained and the compensation amount is determined, and the compensation amount is compensated to the optoelectronic pitch angle; The fourth submodule: is configured as an optoelectronic device to lock the target to be tracked, and measures the distance between the unmanned boat and the target to be tracked through laser ranging; based on the distance and the unmanned boat's position data, the longitude and latitude of the target to be tracked are determined.

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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