Mobile radio spectrum monitoring system and method based on a quadruped robot platform

Abstract

This invention discloses a mobile radio spectrum monitoring system and method based on a quadruped robot platform, belonging to the field of radio direction finding technology. The system includes a quadruped robot body and a monitoring module mounted on it. The monitoring module includes: a seeker head, mounted above the robot body via an elevated frame, with a built-in array antenna for acquiring radio frequency signals; a signal processing chamber, containing an SDR receiver connected to the array antenna to receive signals; a pose sensor module to acquire the robot's pose; a data processing module to perform spatial spectrum direction finding on the signals and fuse the pose data, outputting the coordinates of the radiation source and transmitting them through a communication module; and a power supply chamber to power the system. This invention effectively integrates a quadruped robot with a radio monitoring system, improving the accuracy of transient signal capture and monitoring response efficiency. It can meet the needs of radio management departments for large-scale deployment and routine inspections in complex scenarios, contributing to the maintenance of electromagnetic space safety and order.

Description

Technical Field

[0001] This invention relates to the field of radio direction finding technology, and more specifically to a mobile radio spectrum monitoring system and method based on a quadruped robot platform. Background Technology

[0002] With the rapid development of wireless communication technology, the electromagnetic spectrum has become an important strategic resource, and spectrum monitoring is a core link in maintaining electromagnetic environmental order, ensuring communication security and social stability.

[0003] Currently, radio monitoring in complex environments relies on a variety of technologies. While fixed monitoring stations offer wide coverage, their installation location limits their effectiveness, creating blind spots in areas with tall buildings or undulating terrain. Vehicle-mounted monitoring equipment offers a degree of mobility, but its movement is constrained by road conditions, making it difficult to conduct close-range, precise searches in narrow alleys, ruins, or unstructured terrain. Handheld monitoring equipment offers high flexibility, but its search efficiency is low and it heavily relies on human experience. Furthermore, while drones are highly mobile, their flight time is limited, and the electromagnetic noise generated by their high-speed rotors significantly interferes with the direction finding and positioning accuracy of weak signals at close range.

[0004] In summary, existing fixed, vehicle-mounted, handheld, and drone-based monitoring solutions all struggle to achieve continuous, stable, and high-precision close-range positioning of signal sources such as "black radio broadcasts" and "fake base stations" in complex terrain and electromagnetic environments. Therefore, effectively integrating a quadruped robot platform with excellent obstacle-crossing and ground adaptability with a high-precision spectrum monitoring system to overcome the shortcomings of traditional methods and achieve accurate capture and coordinate transformation of transient signals in complex environments has become a key technical challenge urgently needing to be addressed in this field. Summary of the Invention

[0005] To address the aforementioned technical problems, this invention provides a mobile radio spectrum monitoring system and method based on a quadruped robot platform. By combining a quadruped robot with radio direction finding technology, it enables unmanned and intelligent approach to concealed radiation sources in complex environments and precise location of them, providing high-precision data support for subsequent signal investigation, interference blocking, and other scenarios.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0007] In a first aspect, the present invention proposes a mobile radio spectrum monitoring system based on a quadruped robot platform, comprising a quadruped robot body and a monitoring module disposed on the quadruped robot body, the monitoring module comprising:

[0008] The seeker head is mounted on top of the quadruped robot body via an extension. The seeker head has an array antenna composed of multiple omnidirectional antennas arranged in a predetermined array for collecting space radio frequency signals.

[0009] The signal processing room contains an SDR receiver, a pose sensor module, a data processing module, and a communication module. The SDR receiver is connected to the array antenna to receive radio frequency signals. The pose sensor module is used to obtain the real-time geographical location and heading angle of the quadruped robot. The data processing module performs spatial spectrum direction finding on the signal from the SDR receiver, calculates the angle of arrival, and fuses the data from the pose sensor module to output the precise coordinates of the radiation source relative to the geographic North Pole reference, which are then transmitted to the remote display and control terminal by the communication module.

[0010] Power supply room, used for power supply.

[0011] Preferably, the array antenna is fixed inside the seeker head by an antenna support plate; the antenna support plate has a wire-passing hole; multiple omnidirectional antennas are vertically fixed on the antenna support plate to form a uniform circular array, and the feed lines of each omnidirectional antenna are respectively laid through the corresponding wire-passing hole.

[0012] Preferably, the seeker head includes an antenna bottom shell and an antenna top shell that is connected to the antenna bottom shell. The antenna support plate and the array antenna are fixed on the antenna bottom shell, and the size and material of the antenna bottom shell and the antenna top shell are adapted to the operating frequency of the omnidirectional antenna.

[0013] Preferably, the raised frame is equipped with a multi-functional cable tray, through which the signal cable of the array antenna passes and connects to the SDR receiver.

[0014] Preferably, the data processing module outputs the precise coordinates of the radiation source relative to the geographic North Pole reference by running a dynamic adaptive iterative positioning algorithm.

[0015] Preferably, the dynamic adaptive iterative localization algorithm includes the following steps:

[0016] A reference benchmark is established based on historical direction finding data. Real-time direction finding data is compared with the reference benchmark to identify and remove angle outliers in the direction finding data, retain valid data, and optimize the coordinates of the radiation source through multiple iterations. During the iteration process, the threshold for removing angle outliers is dynamically adjusted according to environmental noise.

[0017] Preferably, the pose sensor module includes a satellite positioning receiver and a three-dimensional electronic compass.

[0018] Preferably, the monitoring module is communicatively connected to the control system of the quadruped robot body. The control system autonomously plans and controls the quadruped robot body to move closer to the radiation source based on the radiation source coordinates output by the data processing module.

[0019] Secondly, this invention proposes a positioning method for a mobile radio spectrum monitoring system based on a quadruped robot platform, comprising the following steps:

[0020] S1, control the quadruped robot to move within the monitoring area, and identify and confirm the target radiation source signal through the monitoring module;

[0021] S2, after confirming the target radiation source signal, control the quadruped robot body to move along a planned trajectory, and during the movement, simultaneously acquire its own pose information and sampling data of the target radiation source signal at multiple points;

[0022] S3, based on the pose information and signal sampling data obtained from the multiple points, a series of incoming wave direction lines are calculated by the data processing module, and a dynamic adaptive iterative positioning algorithm is run to process the series of direction line data to output the precise geographic coordinates of the target radiation source.

[0023] Preferably, S3 includes:

[0024] S31, execute the spatial spectrum direction finding algorithm on the signal sampling data of the multiple points respectively, and calculate the angle of arrival of the wave corresponding to each point;

[0025] S32 integrates the arrival angle of each point with the latitude, longitude and heading angle in the pose information of that point, and maps it to an absolute coordinate system based on the geographic North Pole through coordinate transformation to generate a series of arrival direction lines.

[0026] S33, run the dynamic adaptive iterative positioning algorithm to process the series of incoming wave direction lines. The dynamic adaptive iterative positioning algorithm establishes a reference set of historical direction line data as a reference benchmark, compares the real-time direction line data with the reference benchmark, removes outliers and iteratively optimizes the geographic coordinates.

[0027] As a preferred option, the calculation process of the dynamic adaptive iterative positioning algorithm includes:

[0028] The first N sets of direction-finding data packets were continuously collected, and the preliminary position was calculated using the regularized least squares method to verify the reliability of the data and establish an initial reference matrix.

[0029] Calculate the cyclic angle deviation between the new direction finding angle and the historical direction finding angles in the reference matrix. If the deviation does not exceed 10°, it is considered valid data and added to the calculation set. At the same time, the reference matrix is ​​updated according to the first-in-first-out principle. Otherwise, it is discarded as an outlier. When the number of consecutive data discards reaches a preset threshold, the current reference matrix is ​​deemed invalid and a re-initialization procedure is triggered.

[0030] Based on the filtered valid dataset, the location is calculated using a regularized iterative weighted least squares algorithm. When the magnitude of the location correction and the norm of the residual are both less than the preset threshold or the maximum number of iterations is reached, the final coordinates of the radiation source are output.

[0031] The beneficial effects of this invention are:

[0032] This invention proposes a mobile radio spectrum monitoring system based on a quadruped robot platform. Its core innovation lies in overcoming the limitations of traditional monitoring equipment in complex terrain. This system combines the large-scale monitoring of traditional fixed stations with the refined inspection capabilities of a mobile platform, transforming it into an unmanned, mobile operation mode.

[0033] Leveraging the superior motion control and obstacle-crossing capabilities of a quadruped robot platform, this device can penetrate monitoring blind spots inaccessible to vehicles. Through modular components such as a seeker head and signal processing chamber mounted on the robot platform, the system can approach radiation sources for close-range detection, effectively mitigating the impact of multipath effects and signal attenuation on monitoring accuracy. Utilizing a spatial spectrum direction-finding algorithm ensures high accuracy in single-point direction finding, combined with a dynamic adaptive iterative positioning algorithm, it effectively eliminates environmental noise and interference through intelligent filtering and optimization of multi-point measurement data, ultimately outputting stable and reliable geographic coordinates of the radiation source. This achieves unmanned and intelligent operation from signal identification and autonomous approach to precise positioning. The system can efficiently adapt to the monitoring and positioning needs of radiation sources such as illegal radio stations and unauthorized drone flight control signals. It boasts significant advantages such as flexible deployment, good concealment, and fewer monitoring blind spots, meeting the needs of radio management departments for large-scale deployment and routine inspections in complex scenarios, thus contributing to the maintenance of electromagnetic space security and order. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the structure of the mobile radio spectrum monitoring system based on a quadruped robot platform proposed in this invention;

[0035] Figure 2 This is a schematic diagram of the internal array antenna and antenna support disk structure of the seeker head;

[0036] Figure 3 This is a schematic diagram of the seeker head housing structure;

[0037] Figure 4 This is a schematic diagram of the internal structure of the signal processing room;

[0038] Figure 5 This is a schematic diagram of the power supply room structure;

[0039] Figure 6 This is a flowchart of the workflow of a mobile radio spectrum monitoring system based on a quadruped robot platform;

[0040] In the diagram: 1-Quadruped robot body, 2-Guide head, 21-Array antenna, 211-Omnidirectional antenna, 212-Antenna support plate, 213-Antenna bottom shell, 214-Wire hole, 22-Antenna top shell, 23-Wire trough, 3-Elevation frame, 4-Signal processing chamber, 41-Data receiving module, 411-SDR receiver, 412-Satellite positioning receiver, 413-3D electronic compass, 42-Data processing module, 421-Embedded development board, 43-Communication module, 5-Power supply chamber, 51-Power supply chamber bottom plate, 52-Power supply chamber top plate, 53-Lithium battery pack, 54-Heat dissipation hole. Detailed Implementation

[0041] To more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the present invention will be described in more detail below with reference to the accompanying drawings. Obviously, the drawings described below are merely some embodiments of the present invention, and those skilled in the art can obtain other drawings based on these drawings without any creative effort.

[0042] This invention provides a mobile radio spectrum monitoring system based on a quadruped robot platform, such as... Figure 1 As shown, the system mainly includes a quadruped robot body 1 and a monitoring module mounted on it. The monitoring module integrates a power supply chamber 5, a signal processing chamber 4, an elevation frame 3, and a guide head 2 from bottom to top.

[0043] The quadruped robot body 1 serves as a mobile support platform, and the power supply chamber 5 is directly fixed to this platform. Figure 5 As shown, the power supply chamber 5 consists of a power supply chamber base plate 51 and a power supply chamber top plate 52. The power supply chamber 5 is fixed to the back of the quadruped robot body 1 via a threaded connection through its lower power supply chamber base plate 51. The power supply chamber 5 houses a lithium battery pack 53, which consists of independent and stable 5V and 12V DC power supplies, primarily used to power the various electrical modules within the signal processing chamber 4. The power supply chamber 5 has ventilation holes 54 for heat dissipation of the lithium battery pack 53.

[0044] Signal processing room 4 is located above power supply room 5, and it integrates the system's core data reception and processing modules. For example... Figure 4As shown, the signal processing room 4 is equipped with a data receiving module 41, a data processing module 42, and a communication module 43, which work together to complete the process from signal acquisition to result output. The data receiving module 41 consists of an SDR receiver 411, a satellite positioning receiver 412, and a three-dimensional electronic compass 413. It is responsible for the acquisition and conversion of multi-source information. The SDR receiver 411, as a broadband software-defined radio receiver, has its input connected to the array antenna 21 of the seeker head 2 via an SMA cable. It is responsible for synchronously and rapidly sampling and digitizing the spatial radio frequency signals acquired by the array antenna, converting analog electromagnetic signals into a data stream suitable for subsequent processing. The satellite positioning receiver is used to receive GNSS signals in real time, accurately calculate and output the absolute geographical location information, such as the latitude and longitude coordinates, of the quadruped robot body 1. The three-dimensional electronic compass 413 is used to sense and output the attitude angle of the quadruped robot body 1 in space in real time, especially the heading angle relative to magnetic north, providing a directional reference for subsequent coordinate transformation. In this embodiment, the data processing module 42 is an embedded development board 421 that runs a spatial spectrum direction finding algorithm and a dynamic adaptive iterative positioning algorithm. This development board is connected to the components in the data receiving module 41 via a USB data cable to receive raw signal data, latitude and longitude, and heading angle data. Its core function is to run two types of core algorithms: First, the spatial spectrum direction finding algorithm processes the multi-channel signal data sent from the SDR receiver 411, calculating the angle of arrival of the outgoing wave signal with high precision. Second, the dynamic adaptive iterative positioning algorithm deeply integrates this angle of arrival with information provided by the satellite positioning receiver 412 and the three-dimensional electronic compass 413, unifying it into an absolute coordinate system based on the geographic North Pole through coordinate transformation. Through filtering continuous direction finding data and iterative calculation of effective data, it finally outputs the high-precision geographic coordinates of the radiation source. The communication module 43 is connected to the output of the data processing module 42, sending the calculated precise coordinates of the radiation source and other data to the display and control equipment in real time, realizing the visualization of the positioning results on an electronic map and providing decision-making basis for operators.

[0045] The spatial spectrum direction finding algorithm utilizes the phase difference generated when electromagnetic waves propagate through space to different antenna elements to infer the direction of signal origin. This is a high-resolution algorithm based on matrix characteristic structure analysis. When an electromagnetic wave signal arrives in space, the slight difference in the distance the wave travels to each antenna results in a fixed phase difference in the signal received by each antenna. By analyzing the correlation of the received signals between array elements, the signal subspace and noise subspace can be separated through characteristic space decomposition. Based on the orthogonality test principle, the direction of signal origin can be accurately located in a noisy background. Commonly used spatial spectrum direction finding algorithms include the MUSIC algorithm and the ESPRIT algorithm.

[0046] The elevation bracket 3 is fixed above the signal processing chamber 4 via a threaded connection. The seeker head 2, as the uppermost component of the equipment, is also fixed above the elevation bracket 3 via a threaded connection. This elevation bracket 3 connects the seeker head 2 to the signal processing chamber 4. Its core function is to raise the installation height of the seeker head 2, reducing the obstruction and scattering interference of the robot body and its motion posture on the wavefront of incident electromagnetic waves. Especially in complex ground environments, raising the antenna helps to weaken the multipath effect caused by ground reflection, improves the ability to capture signals along the direct path, thereby expanding the direction-finding baseline and effectively increasing the overall direction-finding accuracy of the system.

[0047] Seeker 2 is the signal sensing front end of the system. For example... Figure 2 and Figure 3 As shown, the housing of the seeker head 2 includes an antenna bottom shell 213 and an antenna top shell 22. Five omnidirectional antennas 211 are vertically fixed to the antenna support plate 212 via threaded connections, forming a uniformly circular array antenna 21. This configuration provides the algorithm with omnidirectional 360-degree signal sampling points with high spatial symmetry, enabling the embedded development board 421 to accurately reconstruct the direction of arrival of the radiation source by acquiring and processing the complex vector data of the received signal from the array antenna. The array antenna 21 is fixed to the antenna bottom shell 213 and together with the antenna top shell 22, forms the complete seeker head 2. The size and material of the seeker head 2's housing and the internal omnidirectional antennas 211 depend on the frequency of the signal to be processed, minimizing signal loss and distortion through the housing to ensure optimal electromagnetic compatibility and direction-finding performance. To achieve neat and standardized wiring, the antenna support plate 212 has specially designed multi-functional wiring holes 214, and the inside of the extension frame 3 has wire channels 23. One end of the SMA line of each omnidirectional antenna 211 is connected to the inside of the antenna, and then passes through the wire hole 214 on the antenna support plate 212 and the wire groove 23 in the heightening frame 3 in sequence, and finally connects to the input end of the SDR receiver 411 in the signal processing room 4.

[0048] The signal from seeker 2 is output to SDR receiver 411 via an SMA cable. SDR receiver 411, satellite positioning receiver 412, and 3D electronic compass 413 are all connected to embedded development board 421, which serves as a data processing module, via USB data cables. Finally, all data processed by embedded development board 421 is transmitted to the remote display control terminal via communication module 43. In this embodiment, the data is transmitted to the rear display control device via remote Wi-Fi through communication module 43.

[0049] Combination Figure 6 The flowchart shown illustrates the implementation process of this system for monitoring and locating radiation sources:

[0050] (1) The system performs spectrum data monitoring of the electromagnetic environment to identify target radiation source signals in the current environment, such as illegal UAV flight control signals. After confirming the target signal, the system completes signal acquisition through the array antenna 21 of the seeker 2 and transmits the acquired radio frequency signal to the SDR receiver 411 for multi-channel synchronous coherent sampling.

[0051] At the same time, the pose sensor module includes a satellite positioning receiver 412 and a three-dimensional electronic compass 413, which work synchronously to acquire the latitude and longitude information and heading angle attitude data of the quadruped robot body 1 in real time.

[0052] (2) The embedded development board 421, which serves as the data processing module, begins calculations:

[0053] First, a spatial spectrum direction finding algorithm is executed on the sampled signal sent by the SDR receiver 411 to accurately calculate the angle of arrival of the radiation source signal.

[0054] Next, the arrival angle of the incoming wave is fused with the real-time latitude, longitude, and heading angle provided by the pose sensor module, and then mapped to an absolute coordinate system based on the geographic North Pole through coordinate transformation to form an initial direction line.

[0055] Based on this, a dynamic adaptive iterative positioning algorithm is adopted for precise positioning. The dynamic adaptive iterative positioning algorithm identifies and removes outlier angle values ​​in the direction finding data caused by environmental noise, signal interference, and platform movement in real time. The specific process includes: verifying the reliability of the data and establishing a reference benchmark in the initialization stage; comparing the statistical characteristics of the newly acquired direction finding data with the historical data reference set in the real-time processing stage, filtering valid data to update the calculation set, and maintaining the reference set using the first-in-first-out principle; finally, iterative calculation is performed based on the valid dataset to gradually optimize the positioning results and ensure the stability and reliability of the output.

[0056] (3) The calculated precise geographic coordinates of the radiation source are transmitted in real time to the remote display and control terminal via the communication module 43. Operators can monitor the positioning results in real time on the electronic map and perform visual analysis, thereby providing direct technical support for rapid decision-making in radio management and subsequent investigation and countermeasure actions.

[0057] In one specific embodiment of the present invention, the computational logic process of the dynamic adaptive iterative positioning algorithm is as follows:

[0058] The system first establishes and verifies the initial reference benchmark through a sliding window mechanism, continuously collecting data during the platform's movement. The group includes the direction finding angle Real-time planar coordinates of the equipment The direction-finding data packets were used as observations, and a preliminary position calculation was performed using regularized least squares. The initial position estimate was... By using regularization parameters The pseudo-inverse solution is obtained as follows:

[0059]

[0060] in, The design matrix is ​​constructed based on the azimuth tangent relationship. For the observation vector, To avoid matrix ill-conditioned phenomena and enhance computational stability, I is the identity matrix and T is the transpose. If the solution is convergent and the residuals are within a preset threshold, the initial data is considered reliable, stored in the reference matrix, and the estimated initial radiation source position is recorded. If the solution diverges, the current batch of data is discarded, and the next set of continuous data is selected through a sliding window for re-verification until initialization is successfully completed. During the real-time monitoring phase, the system performs dynamic adaptive data filtering, performs validity checks on each newly input direction-finding data packet, and calculates the real-time direction-finding angle. With all historical orientation angles in the reference matrix Cyclic angle deviation:

[0061]

[0062] based on Identify and remove outlier angle values ​​caused by environmental noise, signal interference, or platform motion jitter. If this deviation... If the current data is deemed valid, it is added to the calculation matrix. At the same time, the oldest data in the reference matrix is ​​removed according to the first-in-first-out principle, and the currently valid data is inserted to ensure that the reference benchmark is dynamically updated as the platform moves. If the number of consecutive data discards reaches the preset threshold (30 times in this embodiment), the current reference matrix is ​​deemed invalid and a re-initialization procedure is triggered.

[0063] For the selected valid dataset, the system employs a regularized iterative weighted least squares algorithm based on residual correction for precise localization. The system calculates the current estimated location in real time. The residual between the predicted azimuth and the measured azimuth Combined with the Jacobian matrix describing the partial derivative of azimuth with respect to position and weight matrix The position correction amount is calculated using the formula. :

[0064]

[0065] Subsequently according to The target position estimate is updated, and this iterative process continues until the magnitude of the position correction is reached. When both the residual norm and the value are less than a preset threshold, or when the maximum number of iterations is reached (4 in this embodiment), the high-precision geographic coordinates of the radiation source are finally output. Through the synergistic effect of this dynamic adaptive mechanism and iterative optimization strategy, the system can effectively suppress direction-finding noise and geometric configuration errors, achieve positioning under typical working conditions, and significantly enhance the data reliability and monitoring response efficiency of the mobile platform in complex electromagnetic environments.

[0066] This invention effectively integrates the high mobility of quadruped robots with high-precision radio direction finding and positioning technology, significantly improving the ability to detect and locate concealed radiation sources in complex environments.

[0067] The above examples are merely specific embodiments of the present invention. Obviously, the present invention is not limited to the above embodiments and many variations are possible. All variations that can be directly derived or conceived by those skilled in the art from the disclosure of the present invention should be considered within the scope of protection of the present invention.

Claims

1. A mobile radio spectrum monitoring system based on a quadruped robot platform, comprising a quadruped robot body (1), characterized in that, It also includes a monitoring module disposed on the quadruped robot body (1), the monitoring module comprising: The guide head (2) is mounted above the quadruped robot body (1) via an elevated frame (3). The guide head (2) has an array antenna (21) composed of multiple omnidirectional antennas (211) arranged in a predetermined array, which is used to collect spatial radio frequency signals. The signal processing room (4) is equipped with an SDR receiver (411), a pose sensor module, a data processing module (42), and a communication module (43). The SDR receiver (411) is connected to the array antenna (21) to receive radio frequency signals. The pose sensor module is used to obtain the real-time geographical location and heading angle of the quadruped robot body (1). The data processing module (42) performs spatial spectrum direction finding on the signal from the SDR receiver (411), calculates the angle of arrival of the wave, and fuses the data from the pose sensor module to output the precise coordinates of the radiation source relative to the geographic North Pole reference, which are then transmitted to the remote display and control terminal by the communication module (43). Power supply room (5), used for power supply.

2. The mobile radio spectrum monitoring system based on a quadruped robot platform according to claim 1, characterized in that, The array antenna (21) is fixed inside the guide head (2) by an antenna support plate (212); the antenna support plate (212) is provided with a wire hole (214); multiple omnidirectional antennas (211) are vertically fixed on the antenna support plate (212) to form a uniform circular array, and the feed lines of each omnidirectional antenna (211) are respectively laid through the corresponding wire hole (214).

3. The mobile radio spectrum monitoring system based on a quadruped robot platform according to claim 2, characterized in that, The seeker head (2) includes an antenna bottom shell (213) and an antenna top shell (22) that is connected to the antenna bottom shell (213). The antenna support plate (212) and the array antenna (21) are fixed on the antenna bottom shell (213), and the size and material of the antenna bottom shell (213) and the antenna top shell (22) are compatible with the operating frequency of the omnidirectional antenna (211).

4. The mobile radio spectrum monitoring system based on a quadruped robot platform according to claim 1, characterized in that, The raised frame (3) is equipped with a multi-functional cable tray (23), and the signal cable of the array antenna (21) passes through the cable tray (23) and is connected to the SDR receiver (411).

5. The mobile radio spectrum monitoring system based on a quadruped robot platform according to claim 1, characterized in that, The data processing module (42) outputs the precise coordinates of the radiation source relative to the geographic Arctic datum by running a dynamic adaptive iterative positioning algorithm.

6. The mobile radio spectrum monitoring system based on a quadruped robot platform according to claim 5, characterized in that, The dynamic adaptive iterative localization algorithm includes the following steps: A reference benchmark is established based on historical direction finding data. Real-time direction finding data is compared with the reference benchmark to identify and remove angle outliers in the direction finding data, retain valid data, and optimize the coordinates of the radiation source through multiple iterations. During the iteration process, the threshold for removing angle outliers is dynamically adjusted according to environmental noise.

7. The mobile radio spectrum monitoring system based on a quadruped robot platform according to claim 1, characterized in that, The pose sensor module includes a satellite positioning receiver (412) and a three-dimensional electronic compass (413).

8. The mobile radio spectrum monitoring system based on a quadruped robot platform according to claim 1, characterized in that, The monitoring module is connected to the control system of the quadruped robot body (1). The control system plans and controls the quadruped robot body (1) to move closer to the radiation source based on the coordinates of the radiation source output by the data processing module (42).

9. A positioning method based on the mobile radio spectrum monitoring system based on a quadruped robot platform as described in claim 1, characterized in that, Includes the following steps: S1, control the quadruped robot body (1) to move within the monitoring area, and identify and confirm the target radiation source signal through the monitoring module; S2, after confirming the target radiation source signal, control the quadruped robot body (1) to move along a planned trajectory, and during the movement, simultaneously acquire its own pose information and the sampling data of the target radiation source signal at multiple points; S3, based on the pose information and signal sampling data obtained at the multiple points, a series of incoming wave direction lines are calculated by the data processing module (42), and the dynamic adaptive iterative positioning algorithm is run to process the series of direction line data to output the precise geographic coordinates of the target radiation source.

10. The positioning method of the mobile radio spectrum monitoring system based on a quadruped robot platform according to claim 9, characterized in that, S3 include: S31, execute the spatial spectrum direction finding algorithm on the signal sampling data of the multiple points respectively, and calculate the angle of arrival of the wave corresponding to each point; S32 integrates the arrival angle of each wave with the latitude, longitude and heading angle in the pose information of that point, and maps it to an absolute coordinate system based on the geographic North Pole through coordinate transformation to generate a series of wave direction lines. S33, Run the dynamic adaptive iterative positioning algorithm to process the series of incoming wave direction lines. The dynamic adaptive iterative positioning algorithm establishes a reference set of historical direction line data as a reference benchmark, compares the real-time direction line data with the reference benchmark, removes outliers, and iteratively optimizes the geographic coordinates.

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