A method and device for electro-optical autonomous detection and positioning of unmanned surface vessels (USVs) on water surfaces.

Abstract

This invention discloses a method and apparatus for autonomous photoelectric detection and positioning of unmanned surface vessels (USVs) on water surfaces. The method includes: determining several water surface detection areas, simplifying each area to its corresponding circumscribed rectangle; for each detection area, performing the following steps: determining the absolute azimuth angles of the four vertices of the circumscribed rectangle relative to the current position of the USV; obtaining the current photoelectric target hull angle and determining the current photoelectric hull angle interval; performing a fan-scan by the photoelectric turret of the photoelectric device within the current photoelectric hull angle interval; during the fan-scan, acquiring the real-time attitude of the USV and determining the compensation amount, and compensating the photoelectric pitch angle with the compensation amount; locking the target to be tracked by the photoelectric device, and measuring the distance between the USV and the target to be tracked using laser ranging; and determining the latitude and longitude of the target to be tracked based on the distance and the USV's attitude data. This method enables autonomous detection and positioning of targets in multiple areas, overcoming the difficulties of drastic and high-frequency attitude changes, and ensuring target positioning accuracy.

Description

Technical Field

[0001] This invention relates to the field of target detection and positioning technology, specifically to a method and device for autonomous photoelectric detection and positioning of unmanned surface vessels (USVs) on water surfaces. Background Technology

[0002] Unmanned surface vessel (USV) target detection and localization technology is mainly used for detecting targets on shore and at sea. It uses environmental perception devices such as lidar, navigation radar, and monocular cameras to identify and locate targets on shore or at sea. Typically, one or more devices work together to measure the target type and location.

[0003] The existing technology is a data fusion model algorithm based on LiDAR and monocular vision (CN114677531B), which involves using LiDAR point cloud data and monocular video images, generating a quadrangular pyramid with a detection box in the camera coordinate system, a sliding quadrangular prism algorithm to aggregate the target point cloud, and combining histogram to filter the target center point cloud to complete the identification and localization of the target.

[0004] However, in existing technologies, the target's position is determined by transforming the coordinate system of the target identified by the camera using lidar and a camera. But lidar has a limited detection range, and it cannot detect and locate targets at long distances, such as those 3 kilometers or even further away.

[0005] Both lidar and monocular cameras are fixed to the unmanned surface vessel (USV). When the sea conditions are rough and the USV’s attitude changes drastically and frequently, their detection and positioning effects will be reduced. Summary of the Invention

[0006] In view of this, the present invention provides a method and apparatus for autonomous photoelectric detection and positioning of unmanned surface vessels, which can solve the above-mentioned technical problems.

[0007] To solve the above-mentioned technical problems, the present invention is implemented as follows.

[0008] A method for autonomous photoelectric detection and localization of surface targets by unmanned surface vessels, comprising:

[0009] Step S1: Generate a detection plan based on the detection mission and determine several water surface detection areas, simplifying each water surface detection area into its corresponding bounding rectangle;

[0010] Step S2: For each water surface detection area, perform the following:

[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 surface vessel and the water surface detection area, determine the absolute azimuth angles of the four vertices of the circumscribed rectangle relative to the current position of the unmanned surface vessel.

[0012] Step S22: Based on the absolute azimuth and the current bow angle of the unmanned surface vessel (USV), transform the absolute azimuth from the geodetic coordinate system to the USV coordinate system to obtain the current electro-optical target hull angle; determine the boundary of the electro-optical target hull angle that the electro-optical equipment configured on the USV can detect; determine the current electro-optical target hull angle interval based on the boundary of the electro-optical target hull angle and the current electro-optical target hull angle.

[0013] Step S23: The photoelectric turret of the photoelectric equipment performs a fan scan within the current photoelectric hull angle range; during the fan scan, the real-time attitude of the unmanned surface vessel is acquired and the compensation amount is determined, and the compensation amount is applied to the photoelectric pitch angle.

[0014] Step S24: The optoelectronic device locks onto the target to be tracked, and the distance between the unmanned surface vessel and the target to be tracked is measured by laser ranging; based on the distance and the pose data of the unmanned surface vessel, the latitude and longitude of the target to be tracked are determined.

[0015] Preferably, the absolute azimuth angles of the four vertices of the circumscribed rectangle relative to the current position of the unmanned surface vessel are determined, wherein:

[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] Where, Φ T Φ is the absolute azimuth angle corresponding to a vertex of the circumscribed rectangle. δ γ is the projection angle of the photoelectric azimuth angle onto the horizontal plane, γ is the bow angle of the unmanned surface vessel (USV), α and β are the pitch and roll angles of the USV, respectively, and Φ is the angle of inclination. p Φ a These are the photoelectric elevation angle and the photoelectric azimuth angle, respectively. disX and disY are the lengths along the E-axis and the projected lengths along the N-axis, respectively, in the geodetic coordinate system, with the photoelectric azimuth angle as the unit. The geodetic coordinate system refers to a system with the unmanned surface vessel's position as the origin, due north as the N-axis, due east as the E-axis, and vertically upward as the U-axis.

[0021] Preferably, in step S2, the absolute azimuth angle is converted from the geodetic coordinate system to the unmanned surface vessel coordinate system to obtain the current electro-optical target hull angle. The conversion formula is as follows:

[0022]

[0023] Where x, y, and z are the azimuth, roll, and pitch angles of the target relative to the unmanned surface vessel (USV), respectively, and x′, y′, and z′ are the azimuth, roll, and pitch angles of the target in the USV coordinate system, respectively.

[0024] Preferably, in step S23, the real-time attitude of the unmanned surface vessel (USV) is acquired and a compensation amount is determined. This compensation amount is then applied to the photoelectric pitch angle. Specifically, the real-time attitude of the USV is acquired, a compensation amount is determined based on the USV's real-time attitude, and the compensation amount is applied to the photoelectric pitch angle.

[0025] σ=Φ p -α1

[0026] In the formula, σ is the compensation amount, and Φ p α1 is the pitch angle of the photoelectric sensor, and α2 is the pitch angle of the unmanned surface vessel.

[0027] Preferably, in step S24: the optoelectronic device locks onto the target to be tracked, and the distance between the unmanned surface vessel (USV) and the target is measured using laser ranging; based on this distance and the USV's pose data, the latitude and longitude of the target to be tracked are determined, wherein:

[0028] Based on the latitude and longitude of the unmanned surface vessel, 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 This yields the latitude and longitude of the target to be tracked.

[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] Where lat is the latitude of the unmanned surface vessel (USV), lon is the longitude of the USV, L is the photoelectric measurement distance, and Φ T R is the absolute azimuth angle. p R is the Earth's polar radius. e1 is the Earth's equatorial radius, lat' is the latitude of the target to be tracked, and lon' is the longitude of the target to be tracked.

[0032] An unmanned surface vessel (USV) electro-optical autonomous detection and positioning device for surface targets includes:

[0033] Initialization module: Configured to generate a detection plan based on the detection task and determine several water surface detection areas, simplifying each water surface detection area to its corresponding bounding rectangle;

[0034] Detection module: Configured to trigger the following sub-modules for each water surface detection area:

[0035] 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 surface vessel (USV) based on the latitude and longitude coordinates of the four vertices of the circumscribed rectangle corresponding to the current position of the USV.

[0036] The second submodule is configured to convert the absolute azimuth angle from the geodetic coordinate system to the UAV coordinate system based on the absolute azimuth angle and the current bow angle of the UAV, thereby obtaining the current electro-optical target hull angle; determine the boundary of the electro-optical target hull angle that the electro-optical equipment configured on the UAV can detect; and determine the current electro-optical target hull angle interval based on the boundary of the electro-optical target hull angle and the current electro-optical target hull angle.

[0037] The third submodule is configured to have the optoelectronic turret of the optoelectronic device perform a fan sweep within the current optoelectronic hull angle range; during the fan sweep, the real-time attitude of the unmanned surface vessel is acquired and the compensation amount is determined, and the compensation amount is applied to the optoelectronic pitch angle.

[0038] The fourth submodule is configured to use photoelectric devices to lock onto the target to be tracked, measure the distance between the unmanned surface vessel (USV) and the target to be tracked using laser ranging, and determine the latitude and longitude of the target to be tracked based on the distance and the USV's pose data.

[0039] The present invention provides a computer-readable storage medium storing a plurality of instructions; the plurality of instructions are used by a processor to load and execute the method as described above.

[0040] The present invention provides an electronic device, characterized in that the electronic device comprises:

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

[0042] Memory, used to store multiple instructions;

[0043] The plurality of instructions are to be stored in the memory and loaded and executed by the processor as described above.

[0044] Beneficial effects:

[0045] (1) In order to achieve efficient detection and positioning of distant targets on the shore or at sea by unmanned surface vessels under high sea conditions, this 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 attitude and high frequency changes, and ensures the accuracy of target positioning.

[0046] (2) The present invention can detect and locate targets in multiple designated areas, and the detection range is long, which reduces the risk of unmanned surface vessels being detected.

[0047] (3) The present invention compensates the attitude of the unmanned surface vessel into the photoelectric attitude, which improves the target positioning accuracy and reduces the impact of drastic and high-frequency changes in the attitude of the unmanned surface vessel.

[0048] (4) The target detection process of the unmanned surface vessel of the present invention is fully autonomous, adaptable to high sea state operations, and can execute plans beyond line of sight and obtain the situation of the shore or sea in the absence of communication. Attached Figure Description

[0049] Figure 1 This is a schematic diagram of the photoelectric autonomous detection and positioning method for surface targets of the unmanned surface vessel according to the present invention;

[0050] Figure 2 This is a detailed flowchart illustrating the photoelectric autonomous detection and positioning method for unmanned surface targets of the present invention.

[0051] Figure 3 This is a schematic diagram showing the relative position of the target of the present invention in the unmanned surface vessel's hull coordinate system and the photoelectric coordinate system;

[0052] Figure 4 This is a schematic diagram of the structure of the unmanned surface vessel's photoelectric autonomous detection and positioning device for water targets according to the present invention. Detailed Implementation

[0053] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0054] like Figure 1 As shown, this invention proposes a method for autonomous photoelectric detection and positioning of unmanned surface vessels (USVs) on water surfaces. The method includes:

[0055] Step S1: Generate a detection plan based on the detection mission and determine several water surface detection areas, simplifying each water surface detection area into its corresponding bounding rectangle;

[0056] Step S2: For each water surface detection area, perform the following:

[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 surface vessel and the water surface detection area, determine the absolute azimuth angles of the four vertices of the circumscribed rectangle relative to the current position of the unmanned surface vessel.

[0058] Step S22: Based on the absolute azimuth and the current bow angle of the unmanned surface vessel (USV), transform the absolute azimuth from the geodetic coordinate system to the USV coordinate system to obtain the current electro-optical target hull angle; determine the boundary of the electro-optical target hull angle that the electro-optical equipment configured on the USV can detect; determine the current electro-optical target hull angle interval based on the boundary of the electro-optical target hull angle and the current electro-optical target hull angle.

[0059] Step S23: The photoelectric turret of the photoelectric equipment performs a fan scan within the current photoelectric hull angle range; during the fan scan, the real-time attitude of the unmanned surface vessel is acquired and the compensation amount is determined, and the compensation amount is applied to the photoelectric pitch angle.

[0060] Step S24: The optoelectronic device locks onto the target to be tracked, and the distance between the unmanned surface vessel and the target to be tracked is measured by laser ranging; based on the distance and the pose data of the unmanned surface vessel, the latitude and longitude of the target to be tracked are determined.

[0061] like Figure 2 As shown, in this invention, in step S1, the detection area is determined and a detection plan is formulated according to the detection task. This plan can consist of multiple flight segments, each segment conducting photoelectric detection on the same or different detection areas. The speed and the number of target confirmations can be freely set. The detection area is an arbitrary polygonal region. During photoelectric detection, based on the characteristics of the photoelectric field, a bounding rectangle can be used to simplify the process, improving real-time calculation performance and operational efficiency.

[0062] In step S2, according to the detection plan, when the unmanned surface vessel (USV) navigates to a section without a detection area, the electro-optical sensor locks onto the bow of the USV. If it navigates to a section with a detection area, the absolute azimuth angle of the detection area's vertex relative to the USV's position is calculated based on the current USV position and the latitude and longitude coordinates of the outer rectangle of the detection area. To determine the initial azimuth angle range of the electro-optical sensor, this angle in the geodetic coordinate system needs to be converted to the USV coordinate system. Based on the current attitude change of the USV, the azimuth angle range of the electro-optical sensor is determined. Then, combined with the current azimuth angle of the electro-optical sensor, the minimum rotation angle of the electro-optical sensor is calculated, and the rotation direction is determined, enabling the electro-optical sensor to quickly locate the detection azimuth angle boundary.

[0063] In step S3, if the unmanned surface vessel (USV) remains within a detection area while its position changes during navigation, the hull angle detected by the photoelectric sensor should be updated accordingly. Using the same determination method as in step S2, the hull angle range detected by the photoelectric sensor is obtained in real time.

[0064] In step S4, after obtaining the real-time photoelectric detection angle range, the photoelectric turret adopts a fan-scan mode. That is, after the photoelectric angle reaches the left boundary of the detection angle range, the photoelectric turret changes its rotation direction, turning it towards the right boundary of the detection angle range. During the fan-scan process, the photoelectric system compensates for the pitch attitude of the photoelectric system based on the attitude changes of the unmanned surface vessel, so that the antenna line is basically stable in the middle of the vertical direction of the photoelectric image. The photoelectric recognition and tracking module identifies and locks onto the target within the area and adjusts the position of the target in the image. When the target is located in the center of the image, a laser rangefinder is used to measure its distance to obtain the target distance.

[0065] Based on the unmanned surface vessel's attitude (bow, roll, pitch) and electro-optical attitude (azimuth, pitch), the absolute direction of the target relative to the unmanned surface vessel is obtained, and then the target is located based on the target distance.

[0066] like Figure 3 As shown, the unmanned surface vessel platform has 6 degrees of freedom: pitch α (rotation around the X-axis), roll β (rotation around the Y-axis), and heading γ (rotation around the Z-axis).

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

[0068] Further, determine the absolute azimuth angles of the four vertices of the circumscribed rectangle relative to the current position of the unmanned surface vessel, 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] Where, Φ T Φ is the absolute azimuth angle corresponding to a vertex of the circumscribed rectangle. δ γ is the projection angle of the photoelectric azimuth angle onto the horizontal plane, γ is the bow angle of the unmanned surface vessel (USV), α and β are the pitch and roll angles of the USV, respectively, and Φ is the angle of inclination. p Φ aThese are the photoelectric elevation angle and the photoelectric azimuth angle, respectively. disX and disY are the lengths along the E-axis and the projected lengths along the N-axis, respectively, in the geodetic coordinate system, with the photoelectric azimuth angle as the unit. The geodetic coordinate system refers to a system with the unmanned surface vessel's position as the origin, due north as the N-axis, due east as the E-axis, and vertically upward as the U-axis.

[0074] Further, in step S2, the absolute azimuth angle is converted from the geodetic coordinate system to the unmanned surface vessel coordinate system to obtain the current electro-optical target hull angle. The conversion formula is as follows:

[0075]

[0076] Where x, y, and z are the azimuth, roll, and pitch angles of the target relative to the unmanned surface vessel (USV), respectively, and x′, y′, and z′ are the azimuth, roll, and pitch angles of the target in the USV coordinate system, respectively.

[0077] In step S23, the real-time attitude of the unmanned surface vessel (USV) is acquired and a compensation amount is determined. This compensation amount is then applied to the photoelectric pitch angle. Specifically, the real-time attitude of the USV is acquired, a compensation amount is determined based on the USV's real-time attitude, and the compensation amount is applied to the photoelectric pitch angle.

[0078] σ=Φ p -α1

[0079] In the formula, σ is the compensation amount, and Φ p α1 is the pitch angle of the photoelectric sensor, and α2 is the pitch angle of the unmanned surface vessel.

[0080] Step S24: The optoelectronic device locks onto the target to be tracked, and the distance between the unmanned surface vessel (USV) and the target is measured using laser ranging. Based on this distance and the USV's pose data, the latitude and longitude of the target to be tracked are determined, wherein:

[0081] Based on the unmanned surface vessel's latitude and longitude (lat, lon), photoelectric measurement distance L, and absolute azimuth angle φ T and the Earth's polar radius R p Earth's equatorial radius R e The latitude and longitude (lat', lon') of the target to be tracked are obtained:

[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] Where lat is the latitude of the unmanned surface vessel (USV), lon is the longitude of the USV, L is the photoelectric measurement distance, and φ is the distance between the USV and the USV. T R is the absolute azimuth angle. p R is the Earth's polar radius. e 1 is the Earth's equatorial radius, 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 for transforming the body coordinate system O-XYZ to the photoelectric coordinate system O'-X'Y'Z' is:

[0086]

[0087] During the process of measuring the distance between the unmanned surface vessel (USV) and the target to be tracked using laser ranging, the optical axis of the optoelectronic device is locked at the centroid of the target. By projecting the optoelectronic attitude when locking the target onto the XOY plane and then transforming it to the geodetic coordinate system, the deflection angle of the optical axis relative to the bow direction of the USV in the geodetic coordinate system can be obtained.

[0088] In this invention, targets within the detection area are located. Once the single-target ranging count limit is reached, the target is switched according to the sector scan direction. Based on detection requirements, restrictions such as single-detection, multiple repetitive detections, or single-target confirmation counts are applied to control the detection behavior of the photoelectric equipment within the detection area. After the photoelectric equipment completes the area detection, it switches the detection area. Alternatively, the unmanned surface vessel (USV) navigates to the next segment and switches the detection area according to the detection plan. This process is repeated until the detection plan is completed.

[0089] The present invention also provides an unmanned surface vessel (USV) photoelectric autonomous detection and positioning device for surface targets, the device comprising:

[0090] Initialization module: Configured to generate a detection plan based on the detection task and determine several water surface detection areas, simplifying each water surface detection area to its corresponding bounding rectangle;

[0091] Detection module: Configured to trigger the following sub-modules for each water surface detection area:

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

[0093] The second submodule is configured to convert the absolute azimuth angle from the geodetic coordinate system to the UAV coordinate system based on the absolute azimuth angle and the current bow angle of the UAV, thereby obtaining the current electro-optical target hull angle; determine the boundary of the electro-optical target hull angle that the electro-optical equipment configured on the UAV can detect; and determine the current electro-optical target hull angle interval based on the boundary of the electro-optical target hull angle and the current electro-optical target hull angle.

[0094] The third submodule is configured to have the optoelectronic turret of the optoelectronic device perform a fan sweep within the current optoelectronic hull angle range; during the fan sweep, the real-time attitude of the unmanned surface vessel is acquired and the compensation amount is determined, and the compensation amount is applied to the optoelectronic pitch angle.

[0095] The fourth submodule is configured to use photoelectric devices to lock onto the target to be tracked, measure the distance between the unmanned surface vessel (USV) and the target to be tracked using laser ranging, and determine the latitude and longitude of the target to be tracked based on the distance and the USV's pose data.

[0096] The specific embodiments described above only illustrate the design principles of the present invention. The shapes and names of the components in this description may differ and are not limited. Therefore, those skilled in the art can modify or make equivalent substitutions to the technical solutions described in the foregoing embodiments; and these modifications and substitutions do not depart from the inventive spirit and technical solutions of the present invention, and should all fall within the protection scope of the present invention.

Claims

1. A method for autonomous photoelectric detection and positioning of surface targets by an unmanned surface vessel, characterized in that, The method includes: Step S1: Generate a detection plan based on the detection mission and determine several water surface detection areas, simplifying each water surface detection area into its corresponding bounding rectangle; Step S2: For each water surface detection area, perform the following: 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 surface vessel and the water surface detection area, determine the absolute azimuth angles of the four vertices of the circumscribed rectangle relative to the current position of the unmanned surface vessel. Step S22: Based on the absolute azimuth and the current bow angle of the unmanned surface vessel (USV), transform the absolute azimuth from the geodetic coordinate system to the USV coordinate system to obtain the current electro-optical target hull angle; determine the boundary of the electro-optical target hull angle that the electro-optical equipment configured on the USV can detect; determine the current electro-optical target hull angle interval based on the boundary of the electro-optical target hull angle and the current electro-optical target hull angle. Step S23: The photoelectric turret of the photoelectric equipment performs a fan scan within the current photoelectric hull angle range; during the fan scan, the real-time attitude of the unmanned surface vessel is acquired and the compensation amount is determined, and the compensation amount is applied to the photoelectric pitch angle. Step S24: The optoelectronic device locks onto the target to be tracked, and the distance between the unmanned surface vessel and the target to be tracked is measured by laser ranging; based on the distance and the pose data of the unmanned surface vessel, the latitude and longitude of the target to be tracked are determined.

2. The method as described in claim 1, characterized in that, Determine the absolute azimuth angles of the four vertices of the circumscribed rectangle relative to the current position of the unmanned surface vessel, 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 Where, Φ T Φ is the absolute azimuth angle corresponding to a vertex of the circumscribed rectangle. δ γ is the projection angle of the photoelectric azimuth angle onto the horizontal plane, γ is the bow angle of the unmanned surface vessel (USV), α and β are the pitch and roll angles of the USV, respectively, and Φ is the angle of inclination. p Φ a These are the photoelectric elevation angle and the photoelectric azimuth angle, respectively. disX and disY are the lengths along the E-axis and the projected lengths along the N-axis, respectively, in the geodetic coordinate system, with the photoelectric azimuth angle as the unit. The geodetic coordinate system refers to a system with the unmanned surface vessel's position as the origin, due north as the N-axis, due east as the E-axis, and vertically upward as the U-axis.

3. The method as described in claim 2, characterized in that, In step S2, the absolute azimuth angle is converted from the geodetic coordinate system to the unmanned surface vessel coordinate system to obtain the current electro-optical target hull angle. The conversion formula is as follows: Where x, y, and z are the azimuth, roll, and pitch angles of the target relative to the unmanned surface vessel (USV), respectively, and x′, y′, and z′ are the azimuth, roll, and pitch angles of the target in the USV coordinate system, respectively.

4. The method as described in claim 3, characterized in that, In step S23, the real-time attitude of the unmanned surface vessel (USV) is acquired and a compensation amount is determined. This compensation amount is then applied to the photoelectric pitch angle. Specifically, the real-time attitude of the USV is acquired, a compensation amount is determined based on the USV's real-time attitude, and the compensation amount is applied to the photoelectric pitch angle. σ=Φ p -a1 In the formula, σ is the compensation amount, and Φ p α1 is the pitch angle of the photoelectric sensor, and α2 is the pitch angle of the unmanned surface vessel.

5. The method according to any one of claims 2-4, characterized in that, Step S24: The optoelectronic device locks onto the target to be tracked, and the distance between the unmanned surface vessel (USV) and the target is measured using laser ranging. Based on this distance and the USV's pose data, the latitude and longitude of the target to be tracked are determined, wherein: Based on the latitude and longitude of the unmanned surface vessel, 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 This yields the latitude and longitude of the target to be tracked. lat'=lat+L*cosΦ T / (R p +(R e -R p )*(90-year-old) / 90)*180 / π long′=long+L*sinΦ T / ((R p +(R e -R p )*(90-lat) / 90)*cos(lat*π / 180)) *180 / π Where lat is the latitude of the unmanned surface vessel (USV), lon is the longitude of the USV, L is the photoelectric measurement distance, and Φ T R is the absolute azimuth angle. p R is the Earth's polar radius. e 1 is the Earth's equatorial radius, lat' is the latitude of the target to be tracked, and lon′ is the longitude of the target to be tracked.

6. A photoelectric autonomous detection and positioning device for unmanned surface vessels, characterized in that, The device includes: Initialization module: Configured to generate a detection plan based on the detection task and determine several water surface detection areas, simplifying each water surface detection area to its corresponding bounding rectangle; Detection module: Configured to trigger the following sub-modules for each water surface detection area: 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 surface vessel (USV) based on the latitude and longitude coordinates of the four vertices of the circumscribed rectangle corresponding to the current position of the USV. The second submodule is configured to convert the absolute azimuth angle from the geodetic coordinate system to the UAV coordinate system based on the absolute azimuth angle and the current bow angle of the UAV, thereby obtaining the current electro-optical target hull angle; determine the boundary of the electro-optical target hull angle that the electro-optical equipment configured on the UAV can detect; and determine the current electro-optical target hull angle interval based on the boundary of the electro-optical target hull angle and the current electro-optical target hull angle. The third submodule is configured to have the optoelectronic turret of the optoelectronic device perform a fan sweep within the current optoelectronic hull angle range; during the fan sweep, the real-time attitude of the unmanned surface vessel is acquired and the compensation amount is determined, and the compensation amount is applied to the optoelectronic pitch angle. The fourth submodule is configured to use photoelectric devices to lock onto the target to be tracked, measure the distance between the unmanned surface vessel (USV) and the target to be tracked using laser ranging, and determine the latitude and longitude of the target to be tracked based on the distance and the USV's pose data.

7. A computer-readable storage medium storing a plurality of instructions; the plurality of instructions being loaded by a processor and executing the method as claimed in any one of claims 1-5.

8. An electronic device, characterized in that, The electronic device includes: A processor is used to execute multiple instructions; Memory, used to store multiple instructions; The plurality of instructions are to be stored in the memory and loaded by the processor and executed as described in any one of claims 1-5.

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