The sea surface target was transformed from the pixel coordinates of the image to the longitude and latitude height in WGS84 coordinate system, and the target positioning system was built to test the positioning accuracy. The analysis of the experimental data shows that the main factors that affect the positioning accuracy were the attitude of the inertial navigation system, the heading angle and the pitch angle measurement accuracy of the camera. In order to further improve the positioning accuracy, the state equation based on the angle quaternion was established for the inertial navigation system, the state equation for the camera pitch angle was established, and the attitude angle data was predicted, verified and corrected by the extended Kalman filter algorithm suitable for dynamic data processing. The experimental results show that by using the filtered attitude angle, the target positioning error can be effectively reduced.
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