Anti-electromagnetic interference device and method applied to short-range unmanned aerial vehicle

Abstract

The invention relates to an anti-electromagnetic interference device and method applied to a short-range unmanned aerial vehicle. The equipment comprises an electromagnetic pulse induction module, a power supply module, an electromagnetic pulse shielding device, a data processing and control module, an ultrahigh frequency signal generator and a signal transceiving module. Through a high-efficiency assembly, a high-efficiency electromagnetic pulse detection mechanism and an electromagnetic pulse protection scheme, an integrated design and a systematized layout strategy are combined, and a set of electromagnetic pulse interference resisting equipment which has a wide and accurate monitoring frequency spectrum and a strong electromagnetic pulse shielding capability and also gives consideration to the portability of the unmanned aerial vehicle is constructed. The equipment has the capability of monitoring and filtering electromagnetic pulses in a specified range in real time, and ensures that a carried unmanned aerial vehicle system can resist electromagnetic pulse invasion of certain intensity, so that the survival capability and the system reliability of a short-range unmanned aerial vehicle in an electromagnetic interference environment are remarkably improved.

Description

Technical Field

[0001] The present application relates to the field of electromagnetic pulse monitoring and shielding technology, and in particular to an anti-electromagnetic interference device and method for use in short-range unmanned aerial vehicles. Background Art

[0002] At present, the physical size of anti-electromagnetic interference equipment is relatively large, and there is generally a lack of effective electromagnetic shielding mechanisms. In addition, these devices have limitations in performing the task of accurately monitoring electromagnetic pulses, especially when distinguishing the superposition of multiple electromagnetic pulses, their resolution is insufficient. When detecting electromagnetic pulses of low intensity or specific frequency bands, the sensitivity of the monitoring equipment is defective, which may lead to missed detection or false alarms of electromagnetic pulse events. Given that electromagnetic pulses cover an extremely wide spectrum range, some monitoring equipment lacks spectrum coverage capabilities, affecting the comprehensiveness and accuracy of monitoring data. Summary of the invention

[0003] Based on this, it is necessary to provide an anti-electromagnetic interference device and method for short-range UAVs to address the above technical problems.

[0004] An anti-electromagnetic interference device applied to a short-range unmanned aerial vehicle, the device comprising: The electromagnetic pulse sensing module is used to detect the electromagnetic dynamic changes in the environment around the short-range drone in real time. When the detected electromagnetic pulse intensity exceeds the preset electromagnetic pulse intensity threshold, the detection data will be transmitted to the data processing and control module.

[0005] The data processing and control module is used to perform denoising, time domain analysis and frequency domain analysis on the received detection data to obtain signal processing results, select the corresponding signal classification and recognition model according to the signal processing results, and determine the signal classification results; then perform abnormality detection on each signal, and finally determine the shielding instruction according to the signal classification results and the abnormality detection results, and transmit the shielding instruction to the electromagnetic pulse shielding module; it is also used to send a monitoring instruction to the electromagnetic pulse sensing module after receiving the shielding effect feedback signal of the electromagnetic pulse shielding module, so as to start the next round of electromagnetic dynamic change detection.

[0006] The electromagnetic pulse shielding module is used to automatically enable electromagnetic shielding according to the received shielding instructions, perform shielding and filtering functions for electromagnetic pulses within a specific intensity range, and transmit the shielding effect to the data processing and control module.

[0007] The ultra-high frequency signal generator is used to re-acquire the signal processing result and transmit the ultra-high frequency signal to the signal transceiver module.

[0008] The signal transceiver module is used to send and receive radio frequency signals.

[0009] The power module is used to provide power to the electromagnetic pulse sensing module, the electromagnetic pulse shielding module, the data processing and control module, the ultra-high frequency signal generator and the signal transceiver module.

[0010] In one of the embodiments, the electromagnetic pulse sensing module is also used to use multiple electromagnetic induction sensors to detect electromagnetic signals in the range from low frequency to ultra-high frequency in real time. The multiple electromagnetic induction sensors work together to separate the real electromagnetic pulse signal from the complex signal background through spatial filtering algorithm and blind source separation algorithm; the electromagnetic pulse signal is pre-processed to determine the electromagnetic pulse intensity; if the electromagnetic pulse intensity exceeds the preset electromagnetic pulse intensity threshold, the detection data is transmitted to the data processing and control module; otherwise, the electromagnetic pulse sensing module continues to perform real-time detection of electromagnetic dynamic changes in the surrounding environment of the short-range drone.

[0011] In one of the embodiments, the electromagnetic pulse shielding module includes: an electromagnetic pulse active cancellation module.

[0012] The electromagnetic pulse active cancellation module is used to receive shielding instructions and automatically enable electromagnetic shielding according to the shielding instructions. It achieves mutual cancellation of electromagnetic fields in a specific area of ​​space by instantly emitting an electromagnetic field with equal amplitude but opposite phase to the incident electromagnetic pulse within a specific range of the drone, and feeds back the shielding effect to the data processing and control module.

[0013] In one embodiment, the working process of the data processing and control module includes: De-noising the received detection signal, then recovering the signal, and performing time domain and frequency domain analysis on the recovered signal to obtain a signal processing result; According to the signal processing results, the corresponding signal classification recognition model is selected to identify and classify the signal, and invalid data, noise and erroneous data are automatically identified and screened out to obtain the classification results.

[0014] After signal recognition and classification, anomaly detection is performed on each signal.

[0015] According to the classification results and anomaly detection results, the shielding instruction is determined and sent to the electromagnetic pulse shielding module.

[0016] In one embodiment, a filter is used to perform denoising on a received signal, and then the signal is restored, including: The received signal is denoised using a low-pass filter, a high-pass filter or a band-pass filter, and then the denoised information is restored by interpolation.

[0017] In one embodiment, selecting a corresponding signal classification recognition model according to the signal processing result to determine the signal classification result includes: The signal is screened and noise is removed, and then the data integrity is checked. The interpolation method is used to fill in the missing data. At the same time, the interquartile range method is used to detect abnormal data points, and the abnormal data points are repaired or eliminated to obtain the processed data.

[0018] The Pearson correlation coefficient and mutual information are used to confirm the correlation of the signals collected by different electromagnetic induction sensors for the processed data; if the correlation of the output signals of different electromagnetic induction sensors at the same time is greater than the preset threshold, the signal is an interference signal; otherwise, the signal is irrelevant or an erroneous signal.

[0019] Important features are extracted from the data after correlation analysis, and the corresponding model is selected from multiple signal classification and recognition models built into the data processing and control module according to the extracted features for signal recognition and classification.

[0020] By comparing the matching degree between the identified electromagnetic pulse signal and the known electromagnetic pulse model, it is verified whether the collected data meets the standard characteristics of electromagnetic interference.

[0021] In one of the embodiments, the device further includes an antenna; the antenna is connected to the signal transceiver module and is used to transmit and receive radio frequency signals.

[0022] In one of the embodiments, the power module uses a rechargeable lithium battery, and the rechargeable lithium battery is installed on the back of the anti-electromagnetic interference device.

[0023] In one embodiment, the monitoring instructions include monitoring the electric field strength, magnetic field strength, frequency spectrum distribution, pulse width and peak power of the electromagnetic pulse.

[0024] An anti-electromagnetic interference method applied to a short-range unmanned aerial vehicle, the method is used to implement anti-electromagnetic interference using any of the above-mentioned anti-electromagnetic interference devices applied to a short-range unmanned aerial vehicle; the method comprises: The electromagnetic pulse sensing module is used to detect the dynamic changes of the magnetic field in the surrounding environment of the short-range drone in real time. When the monitored electromagnetic pulse intensity exceeds the preset electromagnetic pulse intensity threshold, the detection data is transmitted to the data processing and control unit.

[0025] After receiving the detection data, the data processing and control module performs denoising, time domain analysis and frequency domain analysis on the detection data to obtain the signal processing results, selects the corresponding signal classification and recognition model according to the signal processing results, and determines the signal classification results; performs anomaly detection on each signal, and finally determines the shielding instruction according to the signal classification results and the anomaly detection results, and transmits the shielding instruction to the electromagnetic pulse shielding module.

[0026] The electromagnetic pulse shielding device receives the shielding instruction sent by the data processing and control module, and performs the shielding and filtering functions for electromagnetic pulses within a specific intensity range.

[0027] The electromagnetic pulse shielding device transmits the feedback signal to the data processing and control module, which then reconfigures the monitoring instructions and sends them to the electromagnetic pulse sensing module.

[0028] The electromagnetic pulse shielding device will feed back the shielding effect to the data processing and control module.

[0029] The UHF signal generator reacquires the processed data and transmits the UHF signal to the signal transceiver unit to enable the normal operation of the UAV in the electromagnetic interference.

[0030] The above-mentioned anti-electromagnetic interference equipment and method applied to short-range UAVs include electromagnetic pulse sensing modules, power modules, electromagnetic pulse shielding devices, data processing and control modules, ultra-high frequency signal generators, and signal transceiver modules. Through high-performance components, efficient electromagnetic pulse detection mechanisms, and electromagnetic pulse protection solutions, combined with integrated design and systematic layout strategies, a set of anti-electromagnetic pulse interference equipment with a wide and accurate monitoring spectrum, strong electromagnetic pulse shielding capabilities, and the portability of UAVs has been constructed. The equipment has the ability to monitor and filter out electromagnetic pulses within a specified range in real time, ensuring that the UAV system it carries can resist electromagnetic pulse attacks of a certain intensity, thereby significantly improving the survivability and system reliability of short-range UAVs in electromagnetic interference environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 A block diagram of an anti-electromagnetic interference device applied to a short-range UAV in one embodiment; Figure 2 A front view schematic diagram of an anti-electromagnetic interference device applied to a short-range UAV in one embodiment; Figure 3 The workflow of an anti-electromagnetic interference device applied to a short-range UAV in one embodiment; Figure 4 The figure is a flow chart of an anti-electromagnetic interference method applied to a short-range UAV in one embodiment. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0033] In one embodiment, Figure 1As shown, an anti-electromagnetic interference device for short-range UAV is provided, the device includes: an electromagnetic pulse sensing module 10, a data processing and control module 20, an electromagnetic pulse shielding module 30, an ultra-high frequency signal generator 40, a signal transceiver module 50 and a power supply module 60, wherein: The electromagnetic pulse sensing module 10 is used to detect the electromagnetic dynamic changes in the environment around the short-range drone in real time. When the detected electromagnetic pulse intensity exceeds a preset electromagnetic pulse intensity threshold, the detection data is transmitted to the data processing and control module 20.

[0034] Specifically, the electromagnetic pulse sensing module 10 is responsible for monitoring the dynamic changes of the environmental magnetic field. Its specific monitoring parameters include the electric field strength (unit: volt per meter, V / m), magnetic field strength (unit: ampere per meter, A / m), frequency spectrum distribution, pulse width (unit: millisecond, ms) and peak power (unit: kilowatt, kW) of the electromagnetic pulse. When the monitored parameter strength exceeds the preset threshold limit of the unit, the electromagnetic pulse sensing module 10 transmits the trigger instruction to the data processing and control module 20.

[0035] The electromagnetic pulse sensing module 10 can receive electromagnetic signals ranging from low frequency to ultra-high frequency, and monitor electromagnetic pulses in real time. Multiple electromagnetic induction sensors can improve the accuracy and robustness of the sensing module. This module includes multi-channel monitoring and redundant design, that is, if a sensor causes false alarms or missed detections due to noise or failure, other sensors can provide supplementary data. At the same time, multiple sensors work together, and through spatial filtering algorithms and blind source separation algorithms, the real electromagnetic pulse signal can be separated from the complex signal background, reducing missed detections or false alarms caused by signal superposition or multi-source interference.

[0036] The data processing and control module 20 is used to perform denoising, time domain analysis and frequency domain analysis on the received detection data to obtain signal processing results, select the corresponding signal classification and recognition model according to the signal processing results, and determine the signal classification results; then perform abnormality detection on each signal, and finally determine the shielding instruction according to the signal classification results and the abnormality detection results, and transmit the shielding instruction to the electromagnetic pulse shielding module 30; it is also used to send a monitoring instruction to the electromagnetic pulse sensing module 10 after receiving the shielding effect feedback signal of the electromagnetic pulse shielding module 30, so as to start the next round of electromagnetic dynamic change detection.

[0037] Specifically, the data processing and control module 20 communicates with other modules via a universal serial bus (USB) interface to ensure that when the power supply and data processing and control module 20 are in a power supply state, the associated modules are also activated.

[0038] The data processing and control module 20 analyzes the collected data, performs a process of filtering out erroneous and incomplete data, and converts the data encoding to facilitate subsequent display operations.

[0039] The data processing and control module 20 includes intelligent signal analysis, specifically: using spectrum analysis algorithms, low-pass filters and high-pass filters to process electromagnetic pulse signals. By using wavelet transform to perform time-frequency analysis on the signal, the characteristics of the electromagnetic pulse can be more clearly distinguished. The time-frequency analysis results are combined with the noise modeling algorithm in the system to dynamically adjust the parameters of the filter in real time to reduce the impact of background noise and avoid false alarms.

[0040] The electromagnetic pulse shielding module 30 is used to automatically enable electromagnetic shielding according to the received shielding instruction, perform shielding and filtering functions for electromagnetic pulses within a specific intensity range, and transmit the shielding effect to the data processing and control module 20.

[0041] Specifically, after receiving the shielding instruction, the electromagnetic pulse shielding module 30 effectively shields one or more electromagnetic pulse interference sources. The feedback information of the shielding effectiveness will be transmitted back to the data processing and control module 20, and the data processing and control module 20 will then send the UHF signal shielding instruction to the UHF signal generator, thereby realizing the short-range UAV's resistance to electromagnetic pulse interference.

[0042] The UHF signal generator 40 is used to reacquire the signal processing result and transmit the UHF signal to the signal transceiver module 50 .

[0043] Specifically, the UHF signal generator 40 establishes a connection with the data processing and control module 20 to receive and process the data output by the data processing and control module 20 .

[0044] The UHF signal generator reacquires the processed data and transmits the UHF signal to the signal transceiver module to achieve effective resistance of short-range UAV to electromagnetic interference.

[0045] The signal transceiver module 50 is used to send and receive radio frequency signals.

[0046] The power supply module 60 is used to provide power to the electromagnetic pulse sensing module 10 , the electromagnetic pulse shielding module 30 , the data processing and control module 20 , the ultra-high frequency signal generator 40 and the signal transceiver module 50 .

[0047] Specifically, the power module is coupled with the power control unit and is responsible for regulating the power output of the power unit. The power module is connected with the data processing and control module, the electromagnetic pulse shielding device, and the electromagnetic pulse induction module, and provides necessary power for these units.

[0048] The device also includes a shell frame, the structural shape of the shell structure is a cuboid, the length range is 95mm-100mm, the width range is 20mm-25mm, and the height range is 20mm-25mm. The shell structure is made of lightweight copper-aluminum alloy material. The device of this structure has a compact size and light characteristics, which is easy to operate and carry. In addition, the device exhibits good pressure resistance and excellent electrical performance. At the same time, its material properties ensure that the device has good heat resistance and low temperature resistance, so as to adapt to a wide range of environmental conditions.

[0049] The signal transceiver module 50 and the antenna unit are fixed to the upper end surface of the shell structure, and have an autonomous monitoring function, which can detect and quantify the electromagnetic interference intensity of the surrounding environment of the short-range UAV in real time. The power module of the system adopts a compact rechargeable CTP technology battery. The battery unit is arranged in the back area of ​​the device for easy charging. The electromagnetic pulse sensing module 10 is also installed on the upper end surface of the system. In addition, a power indicator light and a charging interface are provided on the right side panel of the device. The power indicator light is intended to provide real-time power status feedback to alert users to pay attention to the power consumption of the device. The charging interface is intended to provide power supply for the device. The antenna unit is also located on the upper end surface of the device, and the electromagnetic pulse shielding module and the ultra-high frequency signal generator are integrated into the internal structure of the device. The front schematic diagram of the anti-electromagnetic interference device used for short-range UAVs is shown in the figure. Figure 2 shown.

[0050] The working process of the anti-electromagnetic interference equipment used in short-range drones is as follows: the electromagnetic pulse sensing module detects the dynamic changes of the magnetic field in the environment. When the monitored electromagnetic pulse intensity exceeds the preset electromagnetic pulse intensity threshold of the unit, the sensing unit transmits the instruction to the data processing and control unit. At this time, the electromagnetic pulse shielding module receives the shielding instruction sent by the data processing and control unit, and performs the shielding and filtering functions of electromagnetic pulses within a specific intensity range. The electromagnetic pulse shielding system transmits the feedback signal to the data processing and control module, which then reconfigures the monitoring instruction and sends it to the electromagnetic pulse sensing module. This process constitutes a closed-loop control mechanism, which aims to accurately control the shielding effectiveness to achieve comprehensive suppression of multiple electromagnetic pulse radiation sources, ensure the optimization and real-time nature of the shielding effect, and thus ensure the stable operation of the drone electronic components. The shielding effect will be fed back to the data processing and control unit, and then the ultra-high frequency signal generator will reacquire the processed data and transmit an ultra-high frequency signal to the signal transceiver unit to achieve effective resistance of the drone to electromagnetic interference. The working process of the anti-electromagnetic interference equipment used in short-range drones is as follows Figure 3 shown.

[0051] The above-mentioned anti-electromagnetic interference equipment used in short-range UAVs includes an electromagnetic pulse sensing module, a power module, an electromagnetic pulse shield, a data processing and control module, an ultra-high frequency signal generator, and a signal transceiver module. Through high-performance components, efficient electromagnetic pulse detection mechanisms, and electromagnetic pulse protection solutions, combined with integrated design and systematic layout strategies, a set of anti-electromagnetic pulse interference equipment with a wide and accurate monitoring spectrum, strong electromagnetic pulse shielding capabilities, and the portability of UAVs has been constructed. The equipment has the ability to monitor and filter out electromagnetic pulses within a specified range in real time, ensuring that the UAV system it carries can resist electromagnetic pulse attacks of a certain intensity, thereby significantly improving the survivability and system reliability of short-range UAVs in electromagnetic interference environments.

[0052] In one of the embodiments, the electromagnetic pulse sensing module 10 is also used to use multiple electromagnetic induction sensors to detect electromagnetic signals in the range from low frequency to ultra-high frequency in real time. The multiple electromagnetic induction sensors work together to separate the real electromagnetic pulse signal from the complex signal background through spatial filtering algorithm and blind source separation algorithm; the electromagnetic pulse signal is pre-processed to determine the electromagnetic pulse intensity; if the electromagnetic pulse intensity exceeds the preset electromagnetic pulse intensity threshold, the detection data is transmitted to the data processing and control module 20; otherwise, the electromagnetic pulse sensing module 10 continues to perform real-time detection of electromagnetic dynamic changes in the surrounding environment of the short-range drone.

[0053] Specifically, the spatial filtering algorithm can extract specific signals or suppress interference signals through spatial information. For example, in wireless communications, signal transmission between base stations and user terminals is affected by multipath propagation, interference signals, and noise. MIMO technology uses a multi-antenna system combined with a spatial filtering algorithm to optimize signal quality by selectively enhancing or suppressing signals in different directions. Specifically, the signal received by each antenna unit can be represented as the superposition of multiple signal sources (target signals and interference signals) in spatial propagation. The spatial filtering algorithm constructs a weighting matrix W to control the directivity of the antenna array so that the beam is focused in the direction of the target user. Finally, the algorithm calculates the optimal weighting coefficient by optimizing the objective function, such as minimizing interference power or maximizing signal-to-interference-plus-noise ratio (SINR). It can significantly improve the signal and reduce interference.

[0054] Blind source separation algorithms are mainly used to separate individual source signals from a set of mixed signals. For example, in a noisy environment, a recording device or voice assistant needs to separate the voice of a specific speaker from a mixed voice. This requirement is common in scenarios such as smart speakers, human-computer interaction, and voice monitoring. Specifically, the device is equipped with multiple microphones, and the mixed voice signal collected by the microphone array contains multiple sources. The frequency spectrum of the mixed signal is analyzed through blind source separation processing to infer the feature matrix of different voice signals. Then, by estimating the spatial attributes and temporal characteristics of each voice signal, the multi-voice signal is separated into a single sound track.

[0055] Specifically, the device can improve its resolution when multiple electromagnetic pulses are superimposed. The main reasons include: (1) Multi-channel deployment of electromagnetic pulse sensing modules: The electromagnetic pulse sensing module uses multiple sensors to achieve real-time monitoring of electromagnetic pulses of different frequency bands and directions. These sensors can capture electromagnetic pulse signals from different sources. For superimposed signals, by fusing the signal data collected by different sensors, the system's resolution ability in complex environments can be enhanced.

[0056] (2) The data processing and control module processes the multi-channel signals, determines the time window and frequency characteristics of each pulse through time-frequency analysis, automatically identifies the source of the electromagnetic pulse and decouples the superimposed signals.

[0057] (3) By integrating pattern recognition algorithms into the system and combining the time domain characteristics and frequency domain features of electromagnetic pulses, the system can identify and classify each different superimposed interference pattern.

[0058] In one embodiment, the electromagnetic pulse shielding module 30 includes: an electromagnetic pulse active cancellation module.

[0059] The electromagnetic pulse active cancellation module is used to receive the shielding instruction and automatically enable the electromagnetic shielding according to the shielding instruction. It realizes the mutual cancellation of the electromagnetic fields in a specific area of ​​space by instantaneously emitting an electromagnetic field with equal amplitude but opposite phase to the incident electromagnetic pulse within the specific range where the UAV is located, so as to achieve the effect of shielding the electromagnetic pulse, and feed back the shielding effect to the data processing and control module 20.

[0060] In one embodiment, the working process of the data processing and control module 20 specifically includes the following steps: Step 200: De-noise the received detection signal, then perform signal recovery, and perform time domain and frequency domain analysis on the recovered signal to obtain a signal processing result.

[0061] Specifically, data collection and preliminary processing: by using low-pass filters, high-pass filters or band-pass filters to remove noise frequency bands and reduce the impact on the target signal, such as low-pass filters to remove high-frequency noise, high-pass filters to remove low-frequency noise, etc., the data processing module then fills in the missing parts through interpolation methods. Then extract the peak intensity, pulse width, rise and fall time; at the same time, convert the signal from the time domain to the frequency domain, and extract and analyze the frequency distribution of the signal.

[0062] Step 202: Select a corresponding signal classification recognition model according to the signal processing result to classify the signal, and automatically identify and filter out invalid data, noise and erroneous data to obtain a classification result.

[0063] Specifically, after feature extraction, the data processing and control module 20 uses a classification algorithm to identify the signal and automatically identify and filter out invalid data, noise and erroneous data, and determine whether the collected signal is electromagnetic pulse interference or other types of signals or noise.

[0064] Step 204: After signal recognition and classification, anomaly detection is performed on each signal.

[0065] Specifically, after signal classification, the data processing and control module 20 will perform anomaly detection on each signal, set a certain threshold range for parameters such as the electric field strength and pulse width of the signal, and signals exceeding the threshold are considered abnormal data. At the same time, an unsupervised learning algorithm is built in to automatically discover anomalies in the data.

[0066] Step 206 : Determine a shielding instruction based on the classification result and the abnormality detection result, and send the shielding instruction to the electromagnetic pulse shielding module 30 .

[0067] In one embodiment, a filter is used to perform denoising on the received signal, and then the signal is restored, including: a low-pass filter, a high-pass filter or a band-pass filter is used to perform denoising on the received signal, and then the denoised information is restored by interpolation.

[0068] In one embodiment, after detecting the electromagnetic interference signal in the surrounding environment, the data processing and control module will use a multi-model automatic screening method to determine the specific electromagnetic interference frequency band that needs to be shielded. Then, the system will activate the shielding function, and the identified electromagnetic interference signal will be effectively suppressed immediately. According to the signal processing result, the corresponding signal classification recognition model is selected to determine the signal classification result, including: Step 300: Screen and remove noise from the signal, then perform data integrity detection, use interpolation to fill in missing data, and use the interquartile range method to detect abnormal data points, repair or remove abnormal data points, and obtain processed data.

[0069] Specifically, noise screening and removal are as follows: setting threshold detection, using the threshold range of parameters such as the set electric field strength, magnetic field strength, and frequency to preliminarily screen out noise that is obviously beyond the normal range, removing high-frequency noise in the signal through wavelet transform, and retaining the effective components of the low-frequency signal.

[0070] Data integrity detection and repair: Use interpolation algorithms to fill in the missing data to ensure data continuity and integrity. At the same time, use the interquartile range method to detect abnormal data points, find and repair or remove outliers.

[0071] Step 302: The processed data is subjected to the Pearson correlation coefficient and the mutual information to confirm the correlation of the signals collected by different electromagnetic induction sensors; if the correlation of the output signals of different electromagnetic induction sensors at the same time is greater than a preset threshold, the signal is an interference signal; otherwise, the signal is an irrelevant or erroneous signal.

[0072] Specifically, the data is analyzed and screened for correlation: Correlation analysis mainly uses the Pearson correlation coefficient and mutual information to confirm whether the signals collected by different sensors are consistent. If the output signals of different sensors have a high correlation at the same time, it means that they may be effective interference signals; if the correlation between the signals is low, they may be irrelevant or erroneous signals.

[0073] Step 304: extract important features from the data after correlation analysis, and select a corresponding model from a plurality of signal classification and recognition models built into the data processing and control module to perform signal recognition and classification according to the extracted features.

[0074] Specifically, automatic model selection: The data processing and control module has multiple built-in models, such as random forest, convolutional network neural network, etc. Faced with different signal sources, the module will automatically select the corresponding optimal model. Automatic model selection mainly depends on the characteristics of the signal, the historical data of the signal, and the processing requirements of the signal.

[0075] The prerequisite for automatically selecting a model is to extract the important features of the signal. Then, the data processing and control module will evaluate and match the appropriate model based on these features. The specific implementation method is to classify the important signal features, for example, according to the spectrum characteristics of the signal, if the spectrum characteristics are regular or periodic, then use a convolutional neural network, i.e., a deep learning model, and if the spectrum is concentrated in the low-frequency range, then use an SVM learning model. Secondly, it is to select a model based on historical data (not limited to the data mentioned in this application), then the existing data and historical data can be feature-compared to select the most suitable model. Finally, different data information is trained and tested in different models to obtain the optimal solution.

[0076] Specific implementation method: After extracting the features of the signal, you can rely on an adaptive neural network (most preferably, the adaptive neural network is a CNN convolutional neural network) to select the model.

[0077] Step 306: By comparing the matching degree between the identified electromagnetic pulse signal and the known electromagnetic pulse model, verify whether the collected data meets the standard characteristics of electromagnetic interference.

[0078] Specifically, data validity verification: By comparing the matching degree between the collected electromagnetic signal and the known electromagnetic pulse model, the system can verify whether the collected data meets the standard characteristics of electromagnetic interference. For example, real-time data can be compared with historical data or theoretical models to detect the difference between the two, thereby verifying the validity of the data.

[0079] According to the signal processing results, the corresponding signal classification and recognition model is selected to determine the signal classification results. The data processing and control module will screen the collected data for errors and incomplete data and extract the key features of each electromagnetic pulse (such as electric field strength, magnetic field strength, frequency spectrum, pulse width, peak power). Next, the data processing and control module will extract the characteristics of each electromagnetic pulse source from the original signal, and convert these characteristics into a coding format suitable for subsequent classification and recognition, and organize this information into a multi-dimensional feature vector for subsequent analysis and classification. Subsequently, correlation analysis is performed to determine whether there is direct interference between multiple signals. Finally, the signal is screened and classified by automatically screening the signal classification and recognition model.

[0080] In one embodiment, the device further includes an antenna; the antenna is connected to the signal transceiver module 50 for transmitting and receiving radio frequency signals.

[0081] In one embodiment, the power module 60 uses a rechargeable lithium battery, and the rechargeable lithium battery is installed on the back of the anti-electromagnetic interference device.

[0082] In one embodiment, the monitoring instructions include monitoring the electric field strength, magnetic field strength, frequency spectrum distribution, pulse width and peak power of the electromagnetic pulse.

[0083] In one embodiment, Figure 4 As shown, a method for anti-electromagnetic interference applied to a short-range UAV is provided, and the method is used to implement anti-electromagnetic interference by using any of the above anti-electromagnetic interference devices applied to a short-range UAV; the method comprises: Step 400: The dynamic changes of the magnetic field in the surrounding environment of the short-range UAV are detected in real time through the electromagnetic pulse sensing module. When the monitored electromagnetic pulse intensity exceeds the preset electromagnetic pulse intensity threshold, the detection data is transmitted to the data processing and control unit.

[0084] Step 402: After receiving the detection data, the data processing and control module performs denoising, time domain analysis and frequency domain analysis on the detection data to obtain a signal processing result, selects a corresponding signal classification and recognition model based on the signal processing result, and determines a signal classification result; performs anomaly detection on each signal, and finally determines a shielding instruction based on the signal classification result and the anomaly detection result, and transmits the shielding instruction to the electromagnetic pulse shielding module.

[0085] Step 404: The electromagnetic pulse shielding device receives the shielding instruction sent by the data processing and control module, and performs shielding and filtering functions for electromagnetic pulses within a specific intensity range.

[0086] Step 406: The electromagnetic pulse shielding device transmits the feedback signal to the data processing and control module, which then reconfigures the monitoring instructions and sends them to the electromagnetic pulse sensing module.

[0087] Step 408: The electromagnetic pulse shielding device feeds back the shielding effect to the data processing and control module.

[0088] Step 410: The UHF signal generator reacquires the processed data and transmits an UHF signal to the signal transceiver unit to enable the drone to operate normally in the electromagnetic interference.

[0089] It should be understood that although Figure 4 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, Figure 4 At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0090] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0091] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. An anti-electromagnetic interference device for short-range unmanned aerial vehicles, characterized in that: The device comprises: The electromagnetic pulse sensing module is used to detect the electromagnetic dynamic changes in the environment around the short-range drone in real time. When the detected electromagnetic pulse intensity exceeds the preset electromagnetic pulse intensity threshold, the detection data is transmitted to the data processing and control module; The data processing and control module is used to perform denoising, time domain analysis and frequency domain analysis on the received detection data to obtain signal processing results, select the corresponding signal recognition model according to the signal processing results, and determine the signal classification results; then perform abnormality detection on each signal, and finally determine the shielding instruction according to the signal classification results and the abnormality detection results, and transmit the shielding instruction to the electromagnetic pulse shielding module; and is also used to send a monitoring instruction to the electromagnetic pulse sensing module after receiving the shielding effect feedback signal of the electromagnetic pulse shielding module to start the next round of electromagnetic dynamic change detection; The electromagnetic pulse shielding module is used to automatically enable electromagnetic shielding according to the received shielding instruction, perform shielding and filtering functions for electromagnetic pulses within a specific intensity range, and transmit the shielding effect to the data processing and control module; An ultra-high frequency signal generator is used to reacquire the signal processing result and transmit an ultra-high frequency signal to the signal transceiver module; The signal transceiver module is used to send and receive radio frequency signals; The power supply module is used to provide power to the electromagnetic pulse sensing module, the electromagnetic pulse shielding module, the data processing and control module, the ultra-high frequency signal generator and the signal transceiver module.

2. The anti-electromagnetic interference device for short-range UAV according to claim 1, characterized in that: The electromagnetic pulse induction module is also used to use multiple electromagnetic induction sensors to detect electromagnetic signals in the range from low frequency to ultra-high frequency in real time. The multiple electromagnetic induction sensors work together to separate the real electromagnetic pulse signal from the complex signal background through the spatial filtering algorithm and the blind source separation algorithm; Preprocessing the electromagnetic pulse signal to determine the electromagnetic pulse intensity; If the electromagnetic pulse intensity exceeds the preset electromagnetic pulse intensity threshold, the detection data is transmitted to the data processing and control module; otherwise, the electromagnetic pulse sensing module continues to perform real-time detection of electromagnetic dynamic changes in the surrounding environment of the short-range UAV.

3. The anti-electromagnetic interference device for short-range UAV according to claim 1, characterized in that: The electromagnetic pulse shielding module includes: an electromagnetic pulse active cancellation module; The electromagnetic pulse active cancellation module is used to receive the shielding instruction and automatically enable electromagnetic shielding according to the shielding instruction. It realizes mutual cancellation of electromagnetic fields in a specific area of ​​space by instantaneously emitting an electromagnetic field with equal amplitude but opposite phase to the incident electromagnetic pulse within a specific range where the drone is located, and feeds back the shielding effect to the data processing and control module.

4. The anti-electromagnetic interference device for short-range UAV according to claim 1, characterized in that: The working process of the data processing and control module includes: De-noising the received detection signal, then recovering the signal, and performing time domain and frequency domain analysis on the recovered signal to obtain a signal processing result; According to the signal processing results, the corresponding signal classification recognition model is selected to classify the signal, and invalid data, noise and erroneous data are automatically identified and filtered out to obtain the classification results; After signal recognition and classification, anomaly detection is performed on each signal; According to the classification result and the abnormality detection result, a shielding instruction is determined, and the shielding instruction is sent to the electromagnetic pulse shielding module.

5. The anti-electromagnetic interference device for short-range UAV according to claim 4, characterized in that: The received signal is subjected to denoising by a filter and then signal recovery is performed, including: The received signal is denoised using a low-pass filter, a high-pass filter or a band-pass filter, and then the denoised information is restored by interpolation.

6. The anti-electromagnetic interference device for short-range UAV according to claim 1, characterized in that: Select the corresponding signal classification and recognition model according to the signal processing result to determine the signal classification result, including: The signal is screened and noise is removed, and then data integrity is checked. The missing data are filled by interpolation method, and the interquartile range method is used to detect abnormal data points. The abnormal data points are repaired or removed to obtain the processed data; The Pearson correlation coefficient and mutual information are used to confirm the correlation of the signals collected by different electromagnetic induction sensors for the processed data; if the correlation of the output signals of different electromagnetic induction sensors at the same time is greater than the preset threshold, the signal is an interference signal; otherwise, the signal is irrelevant or an erroneous signal; Extract important features from the data after correlation analysis, and select a corresponding model from multiple signal classification and recognition models built into the data processing and control module to perform signal recognition and classification according to the extracted features; By comparing the matching degree between the identified electromagnetic pulse signal and the known electromagnetic pulse model, it is verified whether the collected data meets the standard characteristics of electromagnetic interference.

7. The anti-electromagnetic interference device for short-range UAV according to claim 1, characterized in that: The device also includes an antenna; the antenna is connected to the signal transceiver module and is used to send and receive radio frequency signals.

8. The anti-electromagnetic interference device for short-range UAV according to claim 1, characterized in that: The power module adopts a rechargeable lithium battery, and the rechargeable lithium battery is installed on the back of the anti-electromagnetic interference device.

9. The anti-electromagnetic interference device for short-range UAV according to claim 1, characterized in that: The monitoring instructions include monitoring the electric field strength, magnetic field strength, frequency spectrum distribution, pulse width and peak power of the electromagnetic pulse.

10. An anti-electromagnetic interference method applied to a short-range unmanned aerial vehicle, characterized in that: The method is used to implement anti-electromagnetic interference using the anti-electromagnetic interference device applied to a short-range unmanned aerial vehicle according to any one of claims 1 to 9; the method comprises: The electromagnetic pulse sensing module detects the dynamic changes of the magnetic field in the environment around the short-range drone in real time. When the monitored electromagnetic pulse intensity exceeds the preset electromagnetic pulse intensity threshold, the detection data is transmitted to the data processing and control unit; After receiving the detection data, the data processing and control module performs denoising, time domain analysis and frequency domain analysis on the detection data to obtain a signal processing result, selects a corresponding signal classification and recognition model according to the signal processing result, and determines a signal classification result; performs anomaly detection on each signal, and finally determines a shielding instruction according to the signal classification result and the anomaly detection result, and transmits the shielding instruction to the electromagnetic pulse shielding module; The electromagnetic pulse shielding device receives the shielding instruction sent by the data processing and control module and performs the shielding and filtering functions for electromagnetic pulses within a specific intensity range; The electromagnetic pulse shielding device transmits the feedback signal to the data processing and control module, which then reconfigures the monitoring instructions and sends them to the electromagnetic pulse sensing module; The electromagnetic pulse shielding device will feed back the shielding effect to the data processing and control module; The UHF signal generator reacquires the processed data and transmits the UHF signal to the signal transceiver unit to enable the normal operation of the UAV in the electromagnetic interference.

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