Flying robot electromagnetic interference characteristic test method and system

Abstract

The invention discloses a flying robot electromagnetic interference characteristic test method and system, and belongs to the technical field of flying robot performance test, and the method comprises the steps: S1, obtaining the operation data of a simulated flying robot, carrying out the preprocessing of the operation data to obtain a flight data set, and obtaining the operation data of a simulated electromagnetic field, and carrying out the preprocessing of the operation data to obtain an electromagnetic field data set; s2, extracting characteristic parameters of the simulated electromagnetic field based on the electromagnetic field data set, and performing interference analysis according to the characteristic parameters and the flight data set to obtain a characteristic influence degree; s3, calculating the performance change condition of the corresponding simulated flying robot based on the feature influence degree and the flight data set, and imaging the performance change condition and the electromagnetic field data set to obtain a test image set; s4, generating an electromagnetic interference characteristic test report of the simulated flying robot based on the test image set, the electromagnetic field data set and the performance change condition; the problem that the test result is easily influenced by external factors due to the fact that how to control the test condition is not considered in the prior art is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of flying robot performance testing, and in particular to a flying robot electromagnetic interference characteristic testing method and system. Background Art

[0002] With the development of flying robot technology, more and more live-working flying robots are involved in tasks such as power grid inspection and troubleshooting. However, these flying robots are susceptible to electromagnetic interference and their performance degrades. In response to this situation, actual environment testing or simplified simulation testing methods are generally used to detect the electromagnetic characteristics of flying robots. Among them, although the actual environment test can more realistically reflect the electromagnetic characteristics of the flying robot, it cannot control the test conditions, and there are problems such as the test results are easily affected by external factors and the testing cost is high. Although the simplified simulation test method reduces the testing cost, it cannot truly reflect the dynamic changes and electromagnetic response characteristics of the flying robot during flight, and there is a problem of large deviation between the test results and the actual situation.

[0003] Chinese patent, publication number: CN113697126A, publication date: November 26, 2021, discloses a UAV anti-interference performance evaluation system in a complex electromagnetic environment, including: broadband complex signal generation and monitoring equipment, antenna and display control terminal. The broadband complex signal generation and monitoring equipment generates complex background signals and interference signals to simulate complex electromagnetic scenes, which are sent to the UAV under test through the antenna, and at the same time receives the signals emitted by the UAV under test, analyzes and calculates them, and sends them to the display control terminal through the communication connection line; the display control terminal is used to control the broadband complex signal generation and monitoring equipment and output the results; it also includes a method of using a UAV anti-interference performance evaluation system in a complex electromagnetic environment to test the anti-interference performance of the UAV in two environments, a darkroom and an outdoor field; however, the invention does not consider how to control the test conditions, resulting in the test results being easily affected by external factors. Summary of the invention

[0004] The purpose of the present invention is to address the problem that the prior art does not consider how to control the test conditions, resulting in the test results being easily affected by external factors; a method and system for testing the electromagnetic interference characteristics of a flying robot are proposed, characteristic parameters are extracted based on the operation data of a simulated electromagnetic field, interference analysis is performed based on the characteristic parameters and the operation data of the simulated flying robot to obtain the characteristic influence degree, and then the performance change of the simulated flying robot is calculated based on the characteristic influence degree, and the performance change and the simulated electromagnetic field operation data are graphed, and finally the performance change and the simulated electromagnetic field operation data are sorted out to generate a simulated flying robot electromagnetic interference characteristics test report, which significantly improves the accuracy of the test results. In addition, since the electromagnetic field and the flying robot are simulated simultaneously during the test process, the test process and test conditions can be accurately controlled, effectively avoiding the influence of external factors on the test results.

[0005] In a first aspect, a technical solution provided in an embodiment of the present invention is a method for testing electromagnetic interference characteristics of a flying robot, comprising the following steps: S1, obtaining the operation data of the simulated flying robot and preprocessing it to obtain a flight data set, obtaining the operation data of the simulated electromagnetic field and preprocessing it to obtain an electromagnetic field data set; S2. extracting characteristic parameters of the simulated electromagnetic field based on the electromagnetic field data set, and performing interference analysis according to the characteristic parameters and the flight data set to obtain a characteristic influence degree; S3, calculating the performance change of the corresponding simulated flight robot based on the feature influence degree and the flight data set, and graphically representing the performance change and the electromagnetic field data set to obtain a test atlas; S4. Generate a simulated flying robot electromagnetic interference characteristic test report based on the test atlas, electromagnetic field data set and performance changes.

[0006] In this scheme, the operation data of the simulated flight robot is preprocessed to obtain a flight data set, and the operation data of the simulated electromagnetic field is preprocessed to obtain an electromagnetic field data set. The outliers in the data are eliminated, and the characteristic parameters of the electromagnetic field are extracted based on the electromagnetic field data set. The change characteristics of the simulated electromagnetic field can be clarified, and then the characteristic parameters are used as representatives of the change characteristics of the simulated electromagnetic field to perform interference analysis with the flight data set to obtain the degree of correlation between the change characteristics of the simulated electromagnetic field and the change of the operation state of the simulated flight robot, that is, the characteristic influence degree, and the performance change of the corresponding simulated flight robot is calculated based on the characteristic influence degree and the flight data set, and the performance change of the simulated flight robot is quantified and displayed, and then the performance change and the electromagnetic field data set are graphically obtained to obtain a test atlas that is easy to analyze. Finally, a test report on the electromagnetic interference characteristics of the simulated flight robot is generated based on the test atlas, the electromagnetic field data set and the performance change, which significantly improves the accuracy of the test results. In addition, since the electromagnetic field and the flight robot are simulated at the same time during the test, the test process and test conditions can be accurately controlled, and the influence of external factors on the test results is effectively avoided.

[0007] Preferably, in S1, the specific process of preprocessing the operation data of the simulated flying robot to obtain the flight data set and preprocessing the operation data of the simulated electromagnetic field to obtain the electromagnetic field data set is: S111, performing denoising processing on the operation data of the simulated flying robot based on the data filtering rule, and performing denoising processing on the operation data of the simulated electromagnetic field based on the data filtering rule; S112. Calibrate the denoised simulated flight robot operation data based on preset calibration parameters to obtain calibrated flight data, and calibrate the denoised simulated electromagnetic field operation data based on preset calibration parameters to obtain calibrated electromagnetic field data; S113. Standardize the calibrated flight data based on data standardization rules to obtain a flight data set, and standardize the calibrated electromagnetic field data based on data standardization rules to obtain an electromagnetic field data set.

[0008] In this scheme, the simulated flight robot operation data and the simulated electromagnetic field operation data are denoised to eliminate random noise in the data and effectively improve the signal-to-noise ratio of the data. The denoised simulated flight robot operation data and the simulated electromagnetic field operation data are calibrated to eliminate errors that occur during measurement and make the data more accurate. Finally, the calibrated simulated flight robot operation data and the simulated electromagnetic field operation data are standardized to eliminate dimensional differences in the data and make the data easy to analyze and compare.

[0009] Preferably, the simulated electromagnetic field in S1 is dynamically adjusted based on preset electromagnetic interference conditions during the electromagnetic interference characteristic test of the simulated flying robot.

[0010] In this scheme, the simulated electromagnetic field is dynamically adjusted based on the preset electromagnetic interference conditions. The real-time control of the corresponding electromagnetic field test conditions can be achieved by adjusting the simulated electromagnetic field, and the complex and changeable actual electromagnetic field can be truly simulated, so that the working conditions encountered by the simulated flying robot in the simulated electromagnetic field are consistent with the actual flying robot.

[0011] Preferably, in said S2, the specific process of extracting the simulated electromagnetic field characteristic parameters based on the electromagnetic field data set is: S211, acquiring simulated electromagnetic field intensity data based on the electromagnetic field data set, and calculating the maximum value according to the simulated electromagnetic field intensity data and the maximum value calculation rule; synchronously, calculating a minimum value according to the simulated electromagnetic field strength data and a minimum value calculation rule; Simultaneously, calculating an average value according to the simulated electromagnetic field strength data and an average value calculation rule; Simultaneously, calculating the standard deviation according to the simulated electromagnetic field strength data and the standard deviation calculation rule; S212, sorting out the maximum value, minimum value, average value and standard deviation to obtain characteristic parameters of the simulated electromagnetic field.

[0012] In this solution, the maximum value, minimum value, average value and standard deviation corresponding to the simulated electromagnetic field strength data are calculated, and whether the simulated electromagnetic field has a fault can be detected based on the changing trend of the maximum value, minimum value, average value and standard deviation to prevent test failure caused by simulated electromagnetic field fault.

[0013] Preferably, in S2, the specific process of performing interference analysis according to the characteristic parameters and the flight data set to obtain the characteristic influence degree is: S221, dividing the flight data set into an interference flight data set and a non-interference flight data set based on the operation status of the simulated electromagnetic field corresponding to the flight data set; S222, calculating the impact degree of electromagnetic interference according to the interference flight data set and the non-interference flight data set; S223. Perform correlation analysis based on the electromagnetic interference impact degree and characteristic parameters to obtain the characteristic impact degree.

[0014] In this solution, interference analysis can quantify the impact of electromagnetic interference on the simulated flying robot, intuitively display this impact relationship, and provide support for subsequent analysis of the performance changes of the simulated flying robot.

[0015] Preferably, in S223, the correlation analysis algorithm is a Pearson correlation coefficient algorithm, and the Pearson correlation coefficient algorithm is specifically: Where r is the correlation coefficient between the characteristic parameter and the degree of influence, n is the number of measurement data in the electromagnetic interference characteristic test of the simulated flying robot, x is the value of the characteristic parameter, and y is the value of the degree of influence.

[0016] Preferably, in S3, the specific process of calculating the performance change of the corresponding simulated flying robot based on the feature influence degree and the flight data set is: S311, setting simulated electromagnetic field parameters based on the degree of influence of the characteristics, and extracting flight data corresponding to the set simulated electromagnetic field parameters from the flight data set; S312. Divide the flight data into interference data and non-interference data based on the operating status of the simulated electromagnetic field corresponding to the flight data; S313. Calculate the performance indicators of the corresponding simulated flight robot according to the interference data and the non-interference data and sort out the performance changes of the simulated flight robot.

[0017] In this scheme, the simulated electromagnetic field parameters are set based on the degree of characteristic influence, and the flight data corresponding to the set simulated electromagnetic field parameters are extracted from the flight data set, so that the corresponding data when a certain simulated electromagnetic field parameter dominates the corresponding simulated electromagnetic field change can be obtained, and on the premise that a certain parameter of the simulated electromagnetic field has an obvious dominant role, the performance indicators of the corresponding simulated flight robot are calculated to analyze the performance changes, quantify and intuitively reflect the performance changes of the simulated flight robot, and then identify the performance bottlenecks and potential problems of the simulated flight robot.

[0018] Preferably, in S3, the specific process of graphically displaying the performance change and the electromagnetic field data set to obtain the test atlas is: S321, selecting a performance graph type based on the characteristics of the performance indicator data corresponding to the performance change, and selecting an electromagnetic field graph type based on the characteristics of the data in the electromagnetic field data set; S322, drawing a performance interactive graph according to the performance graph type and the performance change corresponding to the performance indicator data, and drawing an electromagnetic field interactive graph according to the electromagnetic field graph type and the electromagnetic field data set; S323, arranging the performance interaction graphs and the electromagnetic field interaction graphs to obtain a test atlas.

[0019] In this solution, performance interactive graphics and electromagnetic field interactive graphics are drawn to facilitate analysis of the graphics and the data corresponding to the graphics, and the graphics are all interactive graphics with interactive functions, which can be rotated, scaled, translated, etc. when used, so as to observe and analyze the corresponding data in the graphics from different angles.

[0020] Preferably, in S4, the specific process of generating the electromagnetic interference characteristic test report of the simulated flying robot based on the test atlas, the electromagnetic field data set and the performance change is: S411, establishing a correspondence between a test atlas, an electromagnetic field data set, and performance changes according to the time change scale of the simulated flying robot operation data and the time change scale of the simulated electromagnetic field operation data, and collating the performance change data based on the result characteristic influence degree of the interference analysis and the performance change; S412. Organizing the test atlas, electromagnetic field data set, and performance change data based on the corresponding relationship to generate a simulated flying robot electromagnetic interference characteristic test report.

[0021] On the other hand, a technical solution also provided in an embodiment of the present invention is a flying robot electromagnetic interference characteristic testing system, comprising: an electromagnetic interference module, a flying robot module, an electromagnetic field monitoring module, a data analysis module and a result display module; The electromagnetic interference module is used to simulate the electromagnetic interference source in the actual working environment of the flying robot; The flying robot module is used to simulate the working state of the flying robot in an electromagnetic field constructed based on an electromagnetic interference source; The electromagnetic field monitoring module is used to monitor and record the distribution data of the electromagnetic field constructed based on the electromagnetic interference source; The data analysis module is used to analyze the distribution data of the electromagnetic field and the working status of the flying robot; The result display module is used to display the analysis results of the electromagnetic field distribution data and the working status of the flying robot.

[0022] In this solution, the electromagnetic interference module and the flying robot module can be controlled and adjusted in real time or synchronously or asynchronously according to the test requirements and actual working conditions, so that the final test results will not have errors due to the test conditions and actual working conditions.

[0023] The present invention has at least the following substantial effects: The present application preprocesses the operation data of the simulated flight robot to obtain a flight data set, and preprocesses the operation data of the simulated electromagnetic field to obtain an electromagnetic field data set, removes outliers in the data and effectively eliminates the differences between the data to facilitate analysis of the data, extracts characteristic parameters of the electromagnetic field based on the electromagnetic field data set, and can clarify the change characteristics of the simulated electromagnetic field, and then uses the characteristic parameters as representatives of the change characteristics of the simulated electromagnetic field to perform interference analysis with the flight data set to obtain the degree of correlation between the change characteristics of the simulated electromagnetic field and the change of the operation state of the simulated flight robot, that is, the degree of characteristic influence, and calculates the performance change of the corresponding simulated flight robot based on the characteristic influence degree and the flight data set, quantifies and displays the performance change of the simulated flight robot, and then graphs the performance change and the electromagnetic field data set to obtain a test atlas that is easy to analyze, and finally, generates a test report on the electromagnetic interference characteristics of the simulated flight robot based on the test atlas, the electromagnetic field data set and the performance change, which significantly improves the accuracy of the test results. In addition, since the electromagnetic field and the flight robot are simulated simultaneously during the test, the test process and test conditions can be accurately controlled, effectively avoiding the influence of external factors on the test results. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Other features, objects and advantages of the present invention will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings. The drawings are only for the purpose of illustrating preferred embodiments and are not to be considered as limiting the present invention. Also, the same reference symbols are used throughout the drawings to represent the same parts.

[0025] Figure 1 A schematic diagram of a flow chart of a method for testing electromagnetic interference characteristics of a flying robot according to the present invention; Figure 2 The present invention is a schematic structural diagram of a flying robot electromagnetic interference characteristic testing system. DETAILED DESCRIPTION

[0026] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific implementation method described herein is only an optimal embodiment of the present invention, which is only used to explain the present invention and does not limit the scope of protection of the present invention. All other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0027] Before discussing the exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flow charts. Although the flow charts describe the operations (or steps) as sequential processes, many of the operations (or steps) therein can be implemented in parallel, concurrently, or simultaneously. In addition, the order of the operations can be rearranged. The process can be terminated when its operation is completed, but can also have additional steps not included in the drawings; the process can correspond to a method, function, procedure, subroutine, subprogram, etc.

[0028] Embodiment 1: like Figure 1 As shown, this embodiment provides a method for testing electromagnetic interference characteristics of a flying robot, comprising the following steps: S1, obtaining the operation data of the simulated flying robot and preprocessing it to obtain a flight data set, obtaining the operation data of the simulated electromagnetic field and preprocessing it to obtain an electromagnetic field data set; S111, performing denoising processing on the operation data of the simulated flying robot based on the data filtering rule, and performing denoising processing on the operation data of the simulated electromagnetic field based on the data filtering rule; S112. Calibrate the denoised simulated flight robot operation data based on preset calibration parameters to obtain calibrated flight data, and calibrate the denoised simulated electromagnetic field operation data based on preset calibration parameters to obtain calibrated electromagnetic field data; S113. Standardize the calibrated flight data based on data standardization rules to obtain a flight data set, and standardize the calibrated electromagnetic field data based on data standardization rules to obtain an electromagnetic field data set.

[0029] In this embodiment, the obtained simulated flight robot operation data includes the position coordinate data, data bit number, speed, posture, etc. of the simulated flight robot, and the obtained simulated electromagnetic field operation data includes electromagnetic field strength, direction, measurement time, etc. Since the data may contain noise due to various factors when it is just collected, the Kalman filter algorithm is selected as the data filtering rule to denoise the collected original operation data. The Kalman filter algorithm is a recursive algorithm that can estimate the state of a dynamic system in an incomplete or noisy measurement. In combination with the electromagnetic interference characteristic test method of a flight robot provided in this embodiment, the corresponding test system has dynamic characteristics. Through the Kalman filter algorithm, the random noise in the original operation data can be effectively removed, and the signal-to-noise ratio of the data can be improved; Secondly, the calibration parameters of the measuring equipment of the corresponding test system of the electromagnetic interference characteristic test method of a flying robot provided by this embodiment are set as the calibration parameters for the calibration of the denoised data, and the simulated flying robot operation data after denoising and the simulated electromagnetic field operation data after denoising are calibrated based on the calibration parameters to eliminate the measurement error and effectively improve the accuracy of the corresponding data. The calibration includes at least zero point calibration and full scale calibration, which need to be adjusted according to the test conditions and the corresponding equipment; Finally, in order to eliminate the dimensional differences in the data and improve the comparability of the data, the calibrated data needs to be standardized. The Z-score standardization method can be used as a data standardization rule to standardize the simulated flight robot operation data and the simulated electromagnetic field operation data, and convert data of different dimensions into data of the same dimension that is easy to analyze and compare. After the operation data is standardized, the corresponding data can be stored in a specified location.

[0030] In one embodiment, the simulated electromagnetic field in S1 is dynamically adjusted based on preset electromagnetic interference conditions during the electromagnetic interference characteristic test of the simulated flying robot.

[0031] In this embodiment, the preset electromagnetic interference conditions are set based on the actual working conditions or test cases of the flying robot.

[0032] S2. Extracting characteristic parameters of the simulated electromagnetic field based on the electromagnetic field data set, and performing interference analysis based on the characteristic parameters and the flight data set to obtain a characteristic influence degree.

[0033] In one embodiment, the specific process of extracting the simulated electromagnetic field characteristic parameters based on the electromagnetic field data set is: S211, acquiring simulated electromagnetic field strength data based on the electromagnetic field data set, and calculating a maximum value according to the simulated electromagnetic field strength data and a maximum value calculation rule; synchronously, calculating a minimum value according to the simulated electromagnetic field strength data and a minimum value calculation rule; Simultaneously, calculating an average value according to the simulated electromagnetic field strength data and an average value calculation rule; Simultaneously, calculating the standard deviation according to the simulated electromagnetic field strength data and the standard deviation calculation rule; S212, sorting out the maximum value, minimum value, average value and standard deviation to obtain characteristic parameters of the simulated electromagnetic field.

[0034] In this embodiment, the maximum value and the minimum value can be directly extracted according to the statistical results, and the average value and the standard deviation need to be calculated according to the average value formula and the standard deviation formula, and the maximum value, the minimum value, the average value and the standard deviation can intuitively reflect the intensity and change of the electromagnetic interference.

[0035] In one embodiment, the specific process of performing interference analysis based on characteristic parameters and flight data sets to obtain the characteristic impact degree is as follows: S221, dividing the flight data set into an interference flight data set and a non-interference flight data set based on the operation status of the simulated electromagnetic field corresponding to the flight data set; S222, calculating the impact degree of electromagnetic interference according to the interference flight data set and the non-interference flight data set; S223, performing correlation analysis based on the electromagnetic interference influence degree and characteristic parameters to obtain the characteristic influence degree; In one embodiment, the correlation analysis algorithm is a Pearson correlation coefficient algorithm, and the Pearson correlation coefficient algorithm is specifically: Where r is the correlation coefficient between the characteristic parameter and the degree of influence, n is the number of measurement data in the electromagnetic interference characteristic test of the simulated flying robot, x is the value of the characteristic parameter, and y is the value of the degree of influence.

[0036] In this embodiment, the flight data set is divided into an interference flight data set and a non-interference flight data set according to whether the simulated electromagnetic field affects the simulated flight robot, that is, the operating state of the simulated electromagnetic field, and the degree of electromagnetic interference influence on the simulated flight robot is obtained by subtracting the corresponding data in the interference flight data set and the non-interference flight data set. Then, the correlation analysis of the electromagnetic interference influence degree and the characteristic parameters is performed based on the Pearson correlation coefficient algorithm to obtain the characteristic influence degree on the corresponding simulated flight robot under specific conditions, that is, when specific characteristic parameters dominate the simulated electromagnetic field.

[0037] S3. Calculate the performance change of the corresponding simulated flying robot based on the feature influence degree and the flight data set, and graph the performance change and the electromagnetic field data set to obtain a test atlas.

[0038] In one embodiment, the specific process of calculating the performance change of the corresponding simulated flying robot based on the feature influence degree and the flight data set is as follows: S311, setting simulated electromagnetic field parameters based on the degree of influence of the characteristics, and extracting flight data corresponding to the set simulated electromagnetic field parameters from the flight data set; S312. Divide the flight data into interference data and non-interference data based on the operating status of the simulated electromagnetic field corresponding to the flight data; S313. Calculate the performance indicators of the corresponding simulated flight robot according to the interference data and the non-interference data and sort out the performance changes of the simulated flight robot.

[0039] In this embodiment, the simulated electromagnetic field parameters are set based on the degree of characteristic influence, in essence, to obtain a simulated electromagnetic field dominated by specific characteristic parameters, and then obtain flight data of the simulated flying robot in the simulated electromagnetic field corresponding to the specific conditions, so as to analyze the performance bottlenecks and potential problems of the simulated flying robot, and the performance indicators at least include positioning accuracy, communication bit error rate and flight stability; The positioning accuracy can be obtained by comparing the deviation between the actual position and the expected position of the simulated flying robot under the conditions of no interference and interference; The communication bit error rate refers to the ratio of the number of erroneous data bits received by the simulated flying robot communication system to the total number of transmitted data bits in the presence of electromagnetic interference; The flight stability can be estimated by analyzing the fluctuation of flight trajectory, speed, posture and other data of the simulated flying robot under electromagnetic interference conditions.

[0040] In one embodiment, the specific process of graphically displaying the performance change and the electromagnetic field data set to obtain the test atlas is as follows: S321, selecting a performance graph type based on the characteristics of the performance indicator data corresponding to the performance change, and selecting an electromagnetic field graph type based on the characteristics of the data in the electromagnetic field data set; S322, drawing a performance interactive graph according to the performance graph type and the performance change corresponding to the performance indicator data, and drawing an electromagnetic field interactive graph according to the electromagnetic field graph type and the electromagnetic field data set; S323, arranging the performance interaction graphs and the electromagnetic field interaction graphs to obtain a test atlas.

[0041] In this embodiment, the data that need to be graphed include at least the electromagnetic field strength, electromagnetic field direction, electromagnetic field frequency and the degree of impact on the performance of the simulated flight robot, that is, the performance change corresponds to the performance indicator data and the electromagnetic field data set, and it is necessary to select a suitable type of graph according to the characteristics and display requirements of different types of data in the data. For example, for electromagnetic field distribution data, that is, electromagnetic field strength, electromagnetic field direction, electromagnetic field frequency, etc., a two-dimensional plane map, a three-dimensional stereo map or a contour map can be selected to display the strength and distribution of the electromagnetic field. For the analysis results of the electromagnetic interference effect, that is, the degree of impact on the performance of the simulated flight robot, a scatter plot, a bar graph or a line graph can be selected. To show the changes in the performance of the simulated flying robot under different interference conditions, as for graphics drawing, you can choose professional graphics drawing libraries or tools, such as Matplotlib, OpenGL, etc., to draw according to the prepared data and the selected graphics type. In addition, you need to add interactive functions to the drawn graphics, such as zooming, rotating, and panning, etc., to facilitate observation and analysis of data from different angles. At the same time, you also need to add data point click events to the drawn graphics to facilitate viewing the detailed information of specific data points. Finally, you can save the completed interactive graphics as pictures or animation files for subsequent use and export, so that the graphics can be embedded in other documents or reports.

[0042] S4. Generate a test report on electromagnetic interference characteristics of a simulated flying robot based on the test atlas, electromagnetic field data set and performance changes; S411, establishing a correspondence between a test atlas, an electromagnetic field data set, and performance changes according to the time change scale of the simulated flying robot operation data and the time change scale of the simulated electromagnetic field operation data, and collating the performance change data based on the result characteristic influence degree of the interference analysis and the performance change; S412. Organizing the test atlas, electromagnetic field data set, and performance change data based on the corresponding relationship to generate a simulated flying robot electromagnetic interference characteristic test report.

[0043] On the other hand, Figure 2 As shown, a technical solution also provided in an embodiment of the present invention is a flying robot electromagnetic interference characteristic test system, comprising: an electromagnetic interference module, a flying robot module, an electromagnetic field monitoring module, a data analysis module and a result display module; The electromagnetic interference module is used to simulate the electromagnetic interference source in the actual working environment of the flying robot; The flying robot module is used to simulate the working state of the flying robot in an electromagnetic field constructed based on an electromagnetic interference source; The electromagnetic field monitoring module is used to monitor and record the distribution data of the electromagnetic field constructed based on the electromagnetic interference source; The data analysis module is used to analyze the distribution data of the electromagnetic field and the working status of the flying robot; The result display module is used to display the analysis results of the electromagnetic field distribution data and the working status of the flying robot.

[0044] In this embodiment, the electromagnetic interference module further includes an electromagnetic interference signal generation submodule and an interference source position control submodule; The electromagnetic interference signal generation submodule is used to generate electromagnetic interference signals of different frequencies, amplitudes and modulation modes in a simulated electromagnetic field according to test conditions and electromagnetic interference conditions.

[0045] Among them, it is also necessary to select the frequency point or frequency band to be simulated according to the test conditions and electromagnetic interference conditions to set the frequency range of the electromagnetic interference signal. For example, in order to simulate the electromagnetic interference near the high-voltage transmission line, select a frequency range of tens of hertz to hundreds of kilohertz; select the signal strength according to the test conditions and electromagnetic interference conditions to set the amplitude range of the electromagnetic interference signal, which can be achieved by adjusting the output voltage or power of the corresponding signal generator; select amplitude modulation, frequency modulation, phase modulation and pulse modulation as the modulation methods of different electromagnetic interference signals according to the characteristics of the corresponding electromagnetic interference in the test conditions and electromagnetic interference conditions. For example, for the interference of communication equipment, the modulation method of amplitude modulation AM or frequency modulation FM can be used, and for pulse-type interference, the modulation method of pulse modulation can be used; combined with frequency synthesis technology, complex electromagnetic interference signals of the required frequency can be accurately generated, and the generated electromagnetic interference signal can also be output through an antenna or other radiation device to form a simulated electromagnetic interference environment.

[0046] The interference source position control submodule is used to adjust the position and direction of the simulated interference source in the simulated electromagnetic field according to the test conditions and the electromagnetic interference conditions; Among them, it is also necessary to set the three-dimensional spatial coordinates of the interference source in the test space, and use the x-axis of the coordinates to represent the horizontal direction of the interference source, the y-axis to represent the vertical direction of the interference source, and the z-axis to represent the height of the interference source, so as to simulate the interference source position corresponding to the actual working condition, and set the corresponding interference signal emission direction angle as the direction parameter of the interference source, at least including the horizontal angle and the vertical angle. If the electromagnetic interference signal is output through the antenna, the electromagnetic interference signal can be accurately controlled by adjusting the direction of the antenna or using a directional antenna. At the same time, during the test process, it is also necessary to dynamically adjust the position and direction of the interference source according to the test conditions and the electromagnetic interference conditions, so as to simulate the electromagnetic interference encountered by the flying robot when operating in different positions, or simulate the influence of the interference source on the flying robot during movement. Specifically, the dynamic adjustment process can be realized by programming or manually, and during the test, it is also necessary to record the position and direction information of the interference source.

[0047] The flying robot module also includes a flight trajectory simulation submodule and a robot electromagnetic characteristics simulation submodule; The flight trajectory simulation submodule is used to set and adjust the flight path and height of the simulated flying robot in the simulated electromagnetic field; specifically, the flight trajectory simulation submodule needs to set the starting position of the simulated flying robot, such as in the three-dimensional space coordinate system, the starting position can be set to (x 0 ,y 0 ,z 0 ), where x 0 ,y 0 Represents the coordinate of the simulated flying robot on the horizontal plane, z 0 Represents the height of the simulated flying robot, and then based on the starting position (x 0 ,y 0 ,z 0 ) and test conditions or actual operation requirements to plan the flight path of the simulated flying robot. The flight path can be set as a series of three-dimensional coordinate points. These three-dimensional coordinate points are set according to factors such as obstacles and power lines in the actual operation scene. In addition, the flight speed and climbing rate of the simulated flying robot need to be set according to the test requirements or the actual working conditions of the corresponding flying robot.

[0048] The robot electromagnetic characteristic simulation submodule is used to simulate the response characteristics of the simulated flying robot after being subjected to electromagnetic interference; Among them, the robot electromagnetic characteristic simulation submodule needs to obtain parameters such as the electromagnetic conductivity, dielectric constant, and electromagnetic shielding effectiveness of the flying robot as the electromagnetic characteristic parameters of the simulated flying robot, and establish a simulated flying robot based on the electromagnetic characteristic parameters. The simulated flying robot can be a simplified geometric model or a complex model containing detailed electromagnetic characteristics, depending on the test requirements and accuracy requirements. At the same time, the input conditions of the electromagnetic interference signal are set, including the frequency, amplitude, and modulation method of the electromagnetic interference signal. Based on the input conditions, the electromagnetic interference signal generated by the electromagnetic interference module is applied to the simulated flying robot, which can be performed through electromagnetic simulation software or numerical calculation methods, thereby realizing the simulation of the response characteristics of the simulated flying robot corresponding to the flying robot under the interference of the electromagnetic interference signal, at least including current distribution, voltage change, and electromagnetic field coupling. If the flying robot needs to fly under 100MHz electromagnetic interference, the simulated flying robot is first constructed according to the electromagnetic characteristic parameters of the flying robot, and the frequency of the electromagnetic interference signal is set to 100MHz and the amplitude is 1V. The modulation method of amplitude modulation is adopted, and the response characteristics of the flying robot under the electromagnetic interference signal are simulated by the corresponding electromagnetic simulation software, and the current distribution, voltage change, electromagnetic field coupling and other data are obtained and output.

[0049] The electromagnetic field monitoring module also includes an electromagnetic field intensity measurement submodule and a data storage submodule; The electromagnetic field strength measurement submodule is used to measure the strength and direction of the simulated electromagnetic field in real time; Among them, the electromagnetic field strength measurement submodule is also configured with a corresponding electromagnetic field strength measurement device. The electromagnetic field strength measurement device selects the measurement frequency range and measurement accuracy according to the frequency range of the electromagnetic interference signal. Specifically, a device capable of measuring the electromagnetic field strength in the frequency range of 10kHz to 10GHz can be selected, and the measurement accuracy of the device is set to ±1dB. The measurement points are arranged in the test area, and the three-dimensional spatial coordinates of each measurement point are determined. For example, a three-dimensional grid layout is adopted, and each grid point represents a measurement position. If the test area is a cubic space of 10m×10m×10m, the grid spacing is set to 1m, and there are a total of 1000 measurement points; during measurement, the electromagnetic field strength measurement device is used at each measurement point in turn to measure the strength and direction of the simulated electromagnetic field in real time, and it is necessary to ensure that the equipment is stable and accurate. If each measurement point is measured 10 times in succession, the average value is taken as the final result. After the measurement is completed, the data of the simulated electromagnetic field changing with time at each measurement point is recorded, including at least information such as electric field strength, magnetic field strength, and direction.

[0050] The data storage submodule is used to store the real-time measurement data of the electromagnetic field strength measurement submodule; Specifically, during the measurement process, the measurement data can be transmitted to a data storage device or database in real time by wired or wireless means. For example, a database server can be connected using Wi-Fi or Ethernet, and a data upload script can be written to upload the measurement data in real time. In addition, in order to ensure data integrity and consistency, the stored data can be sorted and organized by writing data cleaning scripts, removing duplicate data, filling missing values, etc. At the same time, in order to facilitate the rapid retrieval of required data during subsequent data analysis and processing, a data query function can be provided by writing SQL query statements to retrieve measurement data within a specific time range and a specific area. Furthermore, the database can be automatically backed up once a day, and the backup files can be stored in a safe location to prevent data loss or damage.

[0051] The data analysis module also includes a data preprocessing submodule and an electromagnetic interference impact analysis submodule; The data preprocessing submodule is used to perform denoising, filtering and calibration processing on the simulated electromagnetic field operation data collected by the electromagnetic field monitoring module and the simulated flight robot operation data simulated by the flight robot module; The electromagnetic interference impact analysis submodule evaluates the impact of electromagnetic interference on the performance of the simulated flight robot based on the output data of the data preprocessing submodule.

[0052] The result display module also includes a graphic display submodule and a report generation submodule; The graphic display submodule is used to graphically display the analysis results of the electromagnetic interference impact analysis submodule in the data analysis module, and to intuitively display the electromagnetic field distribution and interference impact in a graphical manner; The report generation submodule organizes the graphical data and the graphics corresponding to the data to generate a detailed test report.

[0053] This embodiment has at least the following substantial effects: In this embodiment, the operation data of the simulated flight robot is preprocessed to obtain a flight data set, and the operation data of the simulated electromagnetic field is preprocessed to obtain an electromagnetic field data set, and outliers in the data are eliminated and the differences between the data are effectively eliminated to facilitate the analysis of the data. The characteristic parameters of the electromagnetic field are extracted based on the electromagnetic field data set, so that the change characteristics of the simulated electromagnetic field can be clarified, and then the characteristic parameters are used as representatives of the change characteristics of the simulated electromagnetic field to perform interference analysis with the flight data set to obtain the degree of correlation between the change characteristics of the simulated electromagnetic field and the change of the operation state of the simulated flight robot, that is, the degree of characteristic influence, and the performance change of the corresponding simulated flight robot is calculated based on the degree of characteristic influence and the flight data set, and the performance change of the simulated flight robot is quantified and displayed, and then the performance change and the electromagnetic field data set are graphically obtained to obtain a test atlas that is easy to analyze. Finally, a test report on the electromagnetic interference characteristics of the simulated flight robot is generated based on the test atlas, the electromagnetic field data set and the performance change, which significantly improves the accuracy of the test results. In addition, since the electromagnetic field and the flight robot are simulated at the same time during the test, the test process and test conditions can be accurately controlled, and the influence of external factors on the test results is effectively avoided.

[0054] The above specific embodiments are preferred embodiments of the present invention, and are not intended to limit the specific implementation scope of the present invention. The scope of the present invention includes but is not limited to the present specific embodiments. All equivalent changes made in accordance with the shape, structure, and method of the present invention are within the protection scope of the present invention.

Claims

1. A method for testing electromagnetic interference characteristics of a flying robot, characterized in that: The method comprises the following steps: S1, obtaining the operation data of the simulated flying robot and preprocessing it to obtain a flight data set, obtaining the operation data of the simulated electromagnetic field and preprocessing it to obtain an electromagnetic field data set; S2. extracting characteristic parameters of the simulated electromagnetic field based on the electromagnetic field data set, and performing interference analysis according to the characteristic parameters and the flight data set to obtain a characteristic influence degree; S3, calculating the performance change of the corresponding simulated flight robot based on the feature influence degree and the flight data set, and graphically representing the performance change and the electromagnetic field data set to obtain a test atlas; S4. Generate a simulated flying robot electromagnetic interference characteristic test report based on the test atlas, electromagnetic field data set and performance changes.

2. A flying robot electromagnetic interference characteristic testing method according to claim 1, characterized in that: In S1, the specific process of preprocessing the operation data of the simulated flying robot to obtain the flight data set and preprocessing the operation data of the simulated electromagnetic field to obtain the electromagnetic field data set is: S111, performing denoising processing on the operation data of the simulated flying robot based on the data filtering rule, and performing denoising processing on the operation data of the simulated electromagnetic field based on the data filtering rule; S112, calibrating the de-noised simulated flight robot operation data based on preset calibration parameters to obtain calibrated flight data, and calibrating the de-noised simulated electromagnetic field operation data based on preset calibration parameters to obtain calibrated electromagnetic field data; S113, standardizing the calibration flight data based on the data standardization rule to obtain a flight data set, and standardizing the calibration electromagnetic field data based on the data standardization rule to obtain an electromagnetic field data set.

3. A flying robot electromagnetic interference characteristic testing method according to claim 1, characterized in that: The simulated electromagnetic field in S1 is dynamically adjusted based on preset electromagnetic interference conditions during the electromagnetic interference characteristic test of the simulated flying robot.

4. A flying robot electromagnetic interference characteristic testing method according to claim 1, characterized in that: In S2, the specific process of extracting the simulated electromagnetic field characteristic parameters based on the electromagnetic field data set is: S211, acquiring simulated electromagnetic field strength data based on the electromagnetic field data set, and calculating a maximum value according to the simulated electromagnetic field strength data and a maximum value calculation rule; synchronously, calculating a minimum value according to the simulated electromagnetic field strength data and a minimum value calculation rule; Simultaneously, calculating an average value according to the simulated electromagnetic field strength data and an average value calculation rule; Simultaneously, calculating the standard deviation according to the simulated electromagnetic field strength data and the standard deviation calculation rule; S212, sorting out the maximum value, minimum value, average value and standard deviation to obtain characteristic parameters of the simulated electromagnetic field.

5. A flying robot electromagnetic interference characteristic testing method according to claim 4, characterized in that: In S2, the specific process of performing interference analysis based on the characteristic parameters and the flight data set to obtain the characteristic influence degree is: S221, dividing the flight data set into an interference flight data set and a non-interference flight data set based on the operation status of the simulated electromagnetic field corresponding to the flight data set; S222, calculating the impact degree of electromagnetic interference according to the interference flight data set and the non-interference flight data set; S223. Perform correlation analysis based on the electromagnetic interference impact degree and characteristic parameters to obtain the characteristic impact degree.

6. A flying robot electromagnetic interference characteristic testing method according to claim 5, characterized in that: In S223, the correlation analysis algorithm is the Pearson correlation coefficient algorithm, and the Pearson correlation coefficient algorithm is specifically: Where r is the correlation coefficient between the characteristic parameter and the degree of influence, n is the number of measurement data in the electromagnetic interference characteristic test of the simulated flying robot, x is the value of the characteristic parameter, and y is the value of the degree of influence.

7. A flying robot electromagnetic interference characteristic testing method according to claim 1, characterized in that: In S3, the specific process of calculating the performance change of the corresponding simulated flying robot based on the feature influence degree and the flight data set is: S311, setting simulated electromagnetic field parameters based on the degree of influence of the characteristics, and extracting flight data corresponding to the set simulated electromagnetic field parameters from the flight data set; S312, dividing the flight data into interference data and non-interference data based on the operation status of the simulated electromagnetic field corresponding to the flight data; S313, calculating the performance index of the corresponding simulated flight robot according to the interference data and the non-interference data, and sorting out the performance change of the simulated flight robot.

8. A flying robot electromagnetic interference characteristic testing method according to claim 7, characterized in that: In S3, the specific process of graphically displaying the performance change and the electromagnetic field data set to obtain the test atlas is as follows: S321, selecting a performance graph type based on the characteristics of the performance indicator data corresponding to the performance change, and selecting an electromagnetic field graph type based on the characteristics of the data in the electromagnetic field data set; S322, drawing a performance interactive graph according to the performance graph type and the performance change corresponding to the performance indicator data, and drawing an electromagnetic field interactive graph according to the electromagnetic field graph type and the electromagnetic field data set; S323, arranging the performance interaction graphs and the electromagnetic field interaction graphs to obtain a test atlas.

9. A flying robot electromagnetic interference characteristic testing method according to claim 1, characterized in that: In S4, the specific process of generating the electromagnetic interference characteristic test report of the simulated flying robot based on the test atlas, the electromagnetic field data set and the performance change is as follows: S411, establishing a correspondence between a test atlas, an electromagnetic field data set, and performance changes according to the time change scale of the simulated flying robot operation data and the time change scale of the simulated electromagnetic field operation data, and collating the performance change data based on the result characteristic influence degree of the interference analysis and the performance change; S412. Organizing the test atlas, electromagnetic field data set, and performance change data based on the corresponding relationship to generate a simulated flying robot electromagnetic interference characteristic test report.

10. A flying robot electromagnetic interference characteristic test system, applicable to a flying robot electromagnetic interference characteristic test method as claimed in any one of claims 1 to 9, characterized in that: Including: electromagnetic interference module, flying robot module, electromagnetic field monitoring module, data analysis module and result display module; The electromagnetic interference module is used to simulate the electromagnetic interference source in the actual working environment of the flying robot; The flying robot module is used to simulate the working state of the flying robot in an electromagnetic field constructed based on an electromagnetic interference source; The electromagnetic field monitoring module is used to monitor and record the distribution data of the electromagnetic field constructed based on the electromagnetic interference source; The data analysis module is used to analyze the distribution data of the electromagnetic field and the working status of the flying robot; The result display module is used to display the analysis results of the electromagnetic field distribution data and the working status of the flying robot.

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