Position locking method of underwater equipment, terminal equipment, system and non-transitory medium

A position locking method of an underwater equipment, wherein the position locking method of the underwater equipment is applied to a terminal equipment, the position locking method of the underwater equipment comprises:

• acquiring an optical image and a sonar image taken by the underwater equipment;
• obtaining a target image by synthesizing the optical image and the sonar image, the target image comprising at least a target object;
• determining position offset information of the target object according to the target image;
• and
• generating position control parameters of the underwater equipment according to the position offset information, and sending the position control parameters to the underwater equipment to make the underwater equipment to lock a position according to the position control parameters;
• wherein the obtaining the target image by synthesizing the optical image and the sonar image comprises:
• determining a first image feature of the optical image and determining a second image feature of the sonar image;
• and
• determining the target image according to the first image feature, a first weight coefficient corresponding to the first image feature, the second image feature and a second weight coefficient corresponding to the second image feature;
• wherein the second weight coefficient is greater than the first weight coefficient.