The invention provides an unmanned ship false target detection method based on a three-dimensional
laser radar. The method is characterized by taking an obstacle target, which does not influence sailing of an unmanned ship, as a false target, and comprises the following steps: mounting the three-dimensional
laser radar, a differential GNSS
receiver and an attitude angle sensor onto the unmanned ship; carrying out pretreatment on the three-dimensional
laser radar data, and carrying out laser
point cloud correction based on unmanned ship real-time attitude angle data obtained by the attitude angle sensor and real-time
self motion status data obtained by the differential GNSS
receiver; and carrying out false target detection through the three-dimensional laser radar, which comprises the substeps of carrying out grid segmentation to obtain an obstacle target, carrying out multiple-
feature extraction and with each feature serving as an evidence to determine the
target type, establishing a
target type identification framework, and judging the false target according to credibility of each
focal element. The method, by utilizing the high-reliability three-dimensional laser radar, takes andconsiders the three-dimensional laser radar false target as the detection target separately, so that the unmanned ship is not influenced by the false target when avoiding the obstacle, and accuracy of target detection is improved.