I know you probably don't want to call law enforcement on your own father, but that may be your best path. If the police responded while he was there, you could have him "trespassed" from your property. It doesn't matter if you rent or own your house.
Injunctions are for violence. And you didn't say that he was violent, so even if you filed an injunction it might not go through.
Here is the first part of the Florida Statute: 810.09 Trespass on property other than structure or conveyance.— (1)(a) A person who, without being authorized, licensed, or invited, willfully enters upon or remains in any property other than a structure or conveyance