Intelligent image stabilization method and system for unmanned intelligent turntable

Abstract

The application provides an intelligent image stabilization method and system for an unmanned intelligent rotary table. The method updates an interference library by acquiring electromagnetic interference data and generates wave-trap filter parameters by monitoring signal-to-noise ratio. Based on these parameters, the wave-trap is adjusted and nonlinear compensation and frequency domain equalization are triggered synchronously, while the key frame mutation signal of the image is identified to adjust the compensation strength, forming a closed loop suppression. In the closed loop, the inner loop extracts high-frequency jitter, and the outer loop fuses interference prediction to generate primary parameters, which are outputted as cross-domain suppression instructions after motion analysis. The instructions drive the anti-interference coding: the attitude coding scheme processes rotation suppression, the hierarchical error correction protocol processes electromagnetic suppression, and the link feedback is used for closed loop verification. The verification result feedback updates the interference library and the compensation strength, realizing the collaborative control of electromagnetic interference and mechanical jitter, and outputting stable images. The application builds a dynamic closed loop suppression mechanism to collaboratively suppress the electromagnetic interference and mechanical jitter of the rotary table, and realizes the image stabilization output of the unmanned intelligent rotary table.

Description

Technical Field

[0001] This application relates to the field of image stabilization technology for intelligent turntables, and more particularly to an intelligent image stabilization method and system for an unmanned intelligent turntable. Background Technology

[0002] In complex application scenarios such as UAV reconnaissance and remote monitoring, unmanned intelligent turntables need to operate stably and transmit high-quality images in environments with strong electromagnetic interference. Such environments not only interfere with the turntable's control signals and sensor data, causing image jitter, frame drops, or distortion, but may also induce abnormal mechanical vibrations in the turntable's power components. These vibrations, combined with inherent mechanical jitter, create complex electromagnetic-mechanical coupled interference. Therefore, an intelligent image stabilization method is urgently needed that can dynamically sense and distinguish between electromagnetic interference and mechanical jitter, achieve collaborative suppression of cross-domain interference, and adaptively adjust parameters under a closed-loop mechanism to ensure stable, smooth, and high-definition image streams even in harsh electromagnetic environments.

[0003] Currently, a targeted approach is an image stabilization method based on adaptive notch filtering and motion compensation. The core of this approach is to monitor the signal-to-noise ratio characteristics of the current or vibration signals of the turntable's power components. Based on this, the center frequency, depth, and bandwidth of the notch filter are dynamically generated and adjusted to specifically filter out specific mechanical jitter components induced or amplified by electromagnetic interference and related to the turntable's rotation frequency and its harmonics. Simultaneously, by combining gyroscope or accelerometer data, motion estimation and compensation are performed on the image sequence to attempt to counteract any remaining jitter.

[0004] However, this scheme has significant drawbacks: First, its core focus is on the unidirectional suppression link of "signal-noise ratio-mechanical jitter," failing to effectively integrate the direct perception and analysis of environmental electromagnetic interference data. It lacks sufficient modeling of the mechanisms by which electromagnetic interference dynamically affects the control system and induces complex mechanical vibrations, leaving it helpless against non-periodic, sudden electromagnetic pulse interference and the resulting abnormal mechanical responses. Second, its closed-loop mechanism is incomplete, relying mainly on internal sensors for parameter adjustments. It lacks closed-loop verification and utilization of the image stream's quality and electromagnetic environment feedback, resulting in limited adaptive capabilities. Most importantly, it lacks an effective "cross-domain collaboration" mechanism, failing to deeply integrate and jointly optimize electromagnetic interference feature analysis with mechanical jitter suppression and image stream quality assessment. This makes it difficult to cope with the challenges of strong "electromagnetic-mechanical" coupling interference in complex electromagnetic environments, and image stability remains easily degraded in harsh electromagnetic environments. Summary of the Invention

[0005] This application provides an intelligent image stabilization method and system for an unmanned intelligent turntable, which solves the problem in the prior art that it is difficult to effectively suppress electromagnetic-mechanical coupling interference in a strong electromagnetic interference environment, resulting in insufficient image stability.

[0006] Firstly, this application provides an intelligent image stabilization method for an unmanned intelligent turntable, comprising:

[0007] Acquire electromagnetic interference data in the turntable's operating environment, update the turntable's interference feature library based on the electromagnetic interference data, and monitor the signal-to-noise ratio characteristics of the turntable's power components to generate notch filter parameters.

[0008] Based on the notch filter parameters, the notch depth and bandwidth related to the turntable rotation jitter are adjusted, and the turntable nonlinear compensation and frequency domain adaptive equalization processing are triggered simultaneously. The abrupt change signal of the rotation key frame in the turntable image stream is identified and the compensation intensity is adjusted in combination with the signal-to-noise ratio characteristics to form an interference suppression closed-loop mechanism.

[0009] During the operation of the interference suppression closed-loop mechanism, the high-frequency jitter features in the mutation signal are extracted by the inner loop control, and the high-frequency jitter features are fused with the turntable interference prediction data by the outer loop prediction to generate primary suppression parameters. The motion state analysis of the primary suppression parameters and electromagnetic interference data is performed to generate cross-domain suppression commands.

[0010] The turntable anti-interference coding is executed based on the cross-domain suppression command, the turntable attitude-related coding scheme is configured according to the rotation suppression item in the cross-domain suppression command, the rotation scene error correction protocol is set hierarchically according to the electromagnetic suppression item in the cross-domain suppression command, and the coded data is verified by combining the turntable link feedback.

[0011] The turntable environmental adaptation parameters output by the closed-loop verification are fed back to the interference feature library update and the compensation intensity adjustment process to achieve coordinated control of electromagnetic interference and mechanical jitter, so as to output a stable image stream.

[0012] Optionally, feeding back the turntable environmental adaptation parameters output by the closed-loop verification to the interference feature library update and the compensation intensity adjustment process to achieve coordinated control of electromagnetic interference and mechanical jitter, so as to output a stable image stream, includes:

[0013] The position deviation report output by the closed-loop verification is converted into turntable environmental adaptation parameters that include offset angle, displacement amount and environmental interference level;

[0014] The offset angle and displacement in the environmental adaptation parameters are added as new records to the interference feature library to update the interference feature library. At the same time, the displacement in the environmental adaptation parameters is input into the compensation regulator, and the correction value of the compensation intensity is output through the displacement intensity mapping table.

[0015] By continuously updating the interference feature library and dynamically adjusting the compensation intensity, a dual-channel collaborative mechanism is formed, enabling the electromagnetic interference suppression subsystem and the mechanical jitter suppression subsystem to achieve control law linkage based on environmental adaptation parameters, and outputting a stable video stream that eliminates inter-frame mutations to the image processing terminal.

[0016] Optionally, the dual-channel collaborative mechanism formed by the continuous updating of the interference feature library and the dynamic adjustment of the compensation intensity enables the electromagnetic interference suppression subsystem and the mechanical jitter suppression subsystem to achieve control law linkage based on environmental adaptation parameters, and output a stable video stream that eliminates inter-frame mutations to the image processing terminal, including:

[0017] The continuously updated interference feature library and the correction value of the compensation intensity are input into the cooperative controller to activate the dual-channel cooperative mechanism, and the environmental adaptation parameters are simultaneously input into the electromagnetic interference suppression subsystem and the mechanical vibration suppression subsystem.

[0018] In the electromagnetic interference suppression subsystem, the lower limit of the filtering frequency is calculated based on the environmental interference level, and the lower limit of the filtering frequency is converted into the harmonic monitoring range of the mechanical jitter suppression subsystem.

[0019] In the mechanical vibration suppression subsystem, a compensation intensity reference value is set according to the displacement, and the compensation intensity reference value is mapped to the amplitude attenuation threshold of the electromagnetic interference suppression subsystem.

[0020] Based on the interaction between the electromagnetic interference suppression subsystem and the mechanical jitter suppression subsystem, image frame processing instructions are generated. When the offset of consecutive fixed frames is lower than a set threshold, a stable video stream is output to the terminal device.

[0021] Optionally, the step of performing turntable anti-interference coding based on the cross-domain suppression command, configuring a turntable attitude-related coding scheme according to the rotation suppression item in the cross-domain suppression command, setting a rotation scene error correction protocol hierarchically according to the electromagnetic suppression item in the cross-domain suppression command, and performing closed-loop verification of the coded data in conjunction with turntable link feedback includes:

[0022] The rotation suppression term in the cross-domain suppression instruction is analyzed, and a turntable attitude-related coding scheme containing compensation displacement for each tilt angle interval is generated based on the jitter suppression coefficient and tilt angle association mapping table contained in the rotation suppression term.

[0023] The electromagnetic suppression term in the cross-domain suppression instruction is analyzed, the rotation scene is divided according to the interference intensity level, and an error correction protocol including the data check bit length and error correction threshold is configured for each level of scene.

[0024] By integrating the aforementioned turntable attitude-related coding scheme with the aforementioned error correction protocol, an anti-interference coded data packet is constructed and fed back to the turntable actuator via the turntable link;

[0025] The system receives the position coordinates fed back by the turntable actuator, calculates the inter-frame deviation between the deviation values ​​and the expected position coordinates in the anti-interference coded data packet, and generates a closed-loop verification signal to trigger the reconstruction of the anti-interference coded data packet and outputs a position deviation report when the deviation values ​​of multiple consecutive frames exceed the set tolerance.

[0026] Optionally, during the operation of the interference suppression closed-loop mechanism, the high-frequency jitter features in the abrupt signal are extracted through inner-loop control, and the high-frequency jitter features are fused with turntable interference prediction data using outer-loop prediction to generate primary suppression parameters. Motion state analysis is then performed on the primary suppression parameters and electromagnetic interference data to generate cross-domain suppression commands, including:

[0027] During the operation of the interference suppression closed-loop mechanism, high-frequency jitter features with a change rate exceeding a preset threshold are extracted from the abrupt signal by the inner loop control module.

[0028] The high-frequency jitter characteristics are spatiotemporally fused with the turntable interference prediction data stored in the outer loop prediction module to generate primary suppression parameters that include frequency suppression coefficients and amplitude correction coefficients.

[0029] The primary suppression parameters and electromagnetic interference data are subjected to motion trajectory analysis. By comparing the fluctuation patterns of the primary suppression parameters and electromagnetic interference data within the same time window, a cross-domain suppression command containing rotation suppression and electromagnetic suppression terms is generated.

[0030] Optionally, the step of adjusting the notch depth and bandwidth related to turntable rotation jitter according to the notch filter parameters, simultaneously triggering turntable nonlinear compensation and frequency domain adaptive equalization processing, identifying abrupt changes in rotation keyframes in the turntable image stream and adjusting the compensation intensity in conjunction with the signal-to-noise ratio characteristics, and forming an interference suppression closed-loop mechanism includes:

[0031] The notch filter parameters are input into the adjustable filter to block the main frequency of the rotation jitter according to the center frequency value, attenuate the jitter harmonic amplitude according to the depth setting value, and cover the rotation jitter spectrum range according to the width setting value.

[0032] The nonlinear compensation module is triggered synchronously to correct the image shift caused by rotation jitter, and the frequency domain adaptive equalization module is triggered to suppress the interference energy of rotation-related frequency bands;

[0033] Scan and identify the turntable image stream, extract abrupt change signals in the rotation keyframes, and input the intensity vector of the abrupt change signals and the signal-to-noise ratio feature into the compensation regulator to adjust the compensation intensity;

[0034] The compensation intensity is output to the nonlinear compensation module and a feedback signal is generated to the adjustable filter, forming an interference suppression closed-loop mechanism from image recognition to parameter adjustment.

[0035] Optionally, the steps of acquiring electromagnetic interference data in the turntable's operating environment, updating the turntable's interference feature library based on the electromagnetic interference data, and monitoring the signal-to-noise ratio characteristics of the turntable's power components to generate notch filter parameters include:

[0036] The electromagnetic sensors on the unmanned intelligent turntable collect raw electromagnetic field strength data in the turntable's operating environment and output electromagnetic interference data including peak intensity and fluctuation frequency.

[0037] The electromagnetic interference data is compared with the interference patterns stored in the interference feature library. New entries are created for unrecorded interference patterns and added to the interference feature library. The updated interference feature library is then output.

[0038] Simultaneously monitor the output signal of the turntable power component and generate a signal-to-noise ratio feature containing the effective signal ratio. When the signal-to-noise ratio feature is lower than the threshold, generate notch filter parameters containing the center frequency value, depth setting value and width setting value based on the updated interference feature library.

[0039] Secondly, this application provides an intelligent image stabilization system for an unmanned intelligent turntable, comprising:

[0040] The acquisition module is used to acquire electromagnetic interference data in the turntable's operating environment, update the turntable's interference feature library based on the electromagnetic interference data, and monitor the signal-to-noise ratio characteristics of the turntable's power components to generate notch filter parameters.

[0041] The processing module is used to adjust the notch depth and bandwidth related to the turntable rotation jitter according to the notch filter parameters, synchronously trigger the turntable nonlinear compensation and frequency domain adaptive equalization processing, identify the abrupt signal of the rotation key frame in the turntable image stream and adjust the compensation intensity in combination with the signal-to-noise ratio characteristics to form an interference suppression closed-loop mechanism.

[0042] The generation module is used to extract high-frequency jitter features from the mutation signal through inner loop control during the operation of the interference suppression closed-loop mechanism, use outer loop prediction to fuse the high-frequency jitter features with turntable interference prediction data to generate primary suppression parameters, and perform motion state analysis on the primary suppression parameters and electromagnetic interference data to generate cross-domain suppression commands.

[0043] The execution module is used to execute turntable anti-interference coding based on the cross-domain suppression instruction, configure the turntable attitude-related coding scheme according to the rotation suppression item in the cross-domain suppression instruction, set the rotation scene error correction protocol in stages according to the electromagnetic suppression item in the cross-domain suppression instruction, and perform closed-loop verification of the coded data in combination with the turntable link feedback.

[0044] The output module is used to feed back the turntable environmental adaptation parameters output by the closed-loop verification to the interference feature library update and the compensation intensity adjustment process, so as to realize the coordinated control of electromagnetic interference and mechanical vibration, and output a stable image stream.

[0045] Thirdly, this application provides a computing device, including a processing component and a storage component; the storage component stores one or more computer instructions; the one or more computer instructions are to be invoked and executed by the processing component to implement the intelligent image stabilization method for an unmanned intelligent turntable as described in the first aspect above.

[0046] Fourthly, this application provides a computer storage medium storing a computer program, which, when executed by a computer, implements an intelligent image stabilization method for an unmanned intelligent turntable as described in the first aspect.

[0047] In this application example, electromagnetic interference data in the turntable's operating environment is acquired, and the turntable's interference feature library is updated based on the electromagnetic interference data. The signal-to-noise ratio (SNR) characteristics of the turntable's power components are monitored to generate notch filter parameters. According to the notch filter parameters, the notch depth and bandwidth related to the turntable's rotational jitter are adjusted, and turntable nonlinear compensation and frequency domain adaptive equalization processing are triggered simultaneously. Abrupt signals in rotational keyframes in the turntable image stream are identified, and the compensation intensity is adjusted in conjunction with the SNR characteristics to form an interference suppression closed-loop mechanism. During the operation of the interference suppression closed-loop mechanism, high-frequency jitter features in the abrupt signals are extracted through inner-loop control, and the high-frequency jitter is fused using outer-loop prediction. The system generates primary suppression parameters from feature and turntable interference prediction data. Motion state analysis is performed on these primary suppression parameters and electromagnetic interference data to generate cross-domain suppression commands. Turntable anti-interference coding is executed based on these commands. A turntable attitude-related coding scheme is configured according to the rotation suppression term in the cross-domain suppression commands. A rotation scene error correction protocol is set hierarchically according to the electromagnetic suppression term in the cross-domain suppression commands. Closed-loop verification is performed on the coded data in conjunction with turntable link feedback. The turntable environment adaptation parameters output from the closed-loop verification are fed back to the interference feature library update and the compensation intensity adjustment process to achieve coordinated control of electromagnetic interference and mechanical jitter, thereby outputting a stable image stream.

[0048] The technical solution of this application has the following beneficial effects:

[0049] This application updates the interference feature library by acquiring electromagnetic interference data and monitors the signal-to-noise ratio of the power components to generate notch filter parameters. It dynamically adjusts the notch filter depth and bandwidth, synchronously triggers nonlinear compensation and frequency domain adaptive equalization processing, and combines the abrupt change signal of the key frame of the image stream with the signal-to-noise ratio characteristics to adjust the compensation intensity to form a closed-loop suppression mechanism. Under this mechanism, the inner loop extracts high-frequency jitter features, and the outer loop fuses interference prediction data to generate primary suppression parameters. After motion state analysis, cross-domain suppression commands are output. Anti-interference coding is executed based on the commands, and closed-loop verification is achieved by combining link feedback. Finally, the environmental adaptation parameters are fed back to the interference library update and compensation adjustment process to achieve dynamic and coordinated suppression of electromagnetic interference and mechanical jitter, ensuring stable output of the turntable image stream under complex electromagnetic environments.

[0050] The position deviation report is further converted into environmental adaptation parameters including offset angle, displacement, and environmental interference level. Then, the offset angle and displacement are added as new records to update the interference feature library. Simultaneously, the displacement is input into the compensation regulator, which generates a correction value for the compensation intensity based on the displacement intensity mapping table. Finally, a dual-channel collaborative mechanism is formed by the continuously updated interference feature library and the dynamically adjusted compensation intensity, enabling the electromagnetic interference suppression and mechanical jitter suppression subsystems to achieve control law linkage based on the environmental adaptation parameters, outputting a stable video stream that eliminates inter-frame mutations. This scheme achieves refined utilization of environmental adaptation parameters and dual-channel feedback collaboration: by accurately decomposing the position deviation into offset angle, displacement, and interference level, and using these to dynamically optimize the interference feature library and correct the compensation intensity, a strong linkage mechanism between the electromagnetic suppression and mechanical suppression subsystems is constructed. This significantly enhances the system's dynamic adaptability to complex environments, ultimately ensuring the output of a high-quality, stable video stream without inter-frame mutations.

[0051] These or other aspects of this application will become more apparent in the following description of the embodiments. Attached Figure Description

[0052] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0053] Figure 1 A flowchart of an intelligent image stabilization method for an unmanned intelligent turntable provided in this application is shown;

[0054] Figure 2 A scene diagram is shown illustrating an intelligent image stabilization method for an unmanned intelligent turntable provided in this application;

[0055] Figure 3This paper shows a schematic diagram of the structure of an intelligent image stabilization system for an unmanned intelligent turntable provided in this application;

[0056] Figure 4 A schematic diagram of the structure of a computing device provided in this application is shown. Detailed Implementation

[0057] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings.

[0058] In some of the processes described in the specification, claims, and accompanying drawings of this application, multiple operations appearing in a specific order are included. However, it should be clearly understood that these operations may not be executed in the order they appear herein, or may be executed in parallel. The operation numbers, such as 101, 102, etc., are merely used to distinguish different operations and do not themselves represent any execution order. Furthermore, these processes may include more or fewer operations, and these operations may be executed sequentially or in parallel. It should be noted that the descriptions such as "first," "second," etc., in this document are used to distinguish different messages, devices, modules, etc., and do not represent a chronological order, nor do they limit "first" and "second" to different types.

[0059] Research indicates that existing adaptive notch filtering and motion compensation schemes for image stabilization of unmanned intelligent turntables in complex electromagnetic environments suffer from key deficiencies: over-reliance on single-dimensional signal-to-noise ratio perception makes them ill-suited to handling sudden electromagnetic interference and its induced abnormal mechanical responses; fragmented closed-loop processing and a single feedback dimension fail to adequately utilize abrupt changes in image stream signals and the dynamics of the electromagnetic environment; and most critically, the lack of an "electromagnetic-mechanical" cross-domain collaborative mechanism leads to easily degraded image stability under harsh electromagnetic conditions. These deficiencies in existing technologies essentially stem from their single-dimensional perception, fragmented closed-loop processing, and lack of cross-domain collaboration. Therefore, an intelligent stabilization method capable of dynamically fusing multi-source information, achieving closed-loop linkage, and possessing cross-domain collaborative capabilities is urgently needed.

[0060] To address the aforementioned issues, this invention proposes an intelligent image stabilization method for an unmanned intelligent turntable. Its core lies in generating notch filtering parameters by fusing electromagnetic interference data and signal-to-noise ratio, and forming a preliminary closed loop by combining this with abrupt changes in keyframe signals of the image. It innovatively constructs an architecture of "inner loop high-frequency jitter extraction + outer loop interference prediction fusion," outputting cross-domain suppression commands. Furthermore, it achieves continuous collaborative optimization across both domains through link closed-loop verification and parameter feedback. This method integrates multi-source sensing with a complete closed loop, overcomes the challenge of lack of collaboration through cross-domain commands, effectively blocks the transmission of electromagnetic interference and suppresses its induced jitter, ultimately outputting a stable, abrupt-free image stream in complex electromagnetic environments.

[0061] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0062] Figure 1 A flowchart of an intelligent image stabilization method for an unmanned intelligent turntable, as provided in this application embodiment, is shown below. Figure 1 As shown, the method includes:

[0063] 101. Obtain electromagnetic interference data in the turntable's operating environment, update the turntable's interference feature library based on the electromagnetic interference data, and monitor the signal-to-noise ratio characteristics of the turntable's power components to generate notch filter parameters.

[0064] Optionally, step 101 may specifically include the following steps:

[0065] 1011. Collect raw electromagnetic field strength data in the operating environment of the turntable through electromagnetic sensors on the unmanned intelligent turntable, and output electromagnetic interference data including peak intensity and fluctuation frequency.

[0066] 1012. Compare the electromagnetic interference data with the interference patterns stored in the interference feature library, create new entries for unrecorded interference patterns and add them to the interference feature library, and output the updated interference feature library.

[0067] 1013. Simultaneously monitor the output signal of the turntable power component, generate a signal-to-noise ratio feature containing the effective signal ratio, and when the signal-to-noise ratio feature is lower than the threshold, generate notch filter parameters containing the center frequency value, depth setting value and width setting value based on the updated interference feature library.

[0068] In the above scheme, electromagnetic interference data refers to dynamic signals reflecting the electromagnetic disturbance characteristics of the turntable's operating environment, including the transient changes in electromagnetic field strength, such as peak intensity and fluctuation frequency. The interference feature library is a dynamic database storing the historical evolution characteristics of electromagnetic interference modes, which can be used to match new interference modes and generate suppression decision-making criteria. Notch filter parameters are the core configuration set for controlling the turntable's rotational jitter suppression effect, containing the filter's response characteristics to target frequency interference, including center frequency value, depth set value, and width set value information, which can be used to accurately filter out electromagnetically conducted mechanical jitter at specific frequencies. The signal-to-noise ratio (SNR) characteristic is a dynamic indicator quantifying the signal quality degradation of the turntable's power components, including the power comparison characteristics of effective and noise signals, including the proportion of effective signal and noise pollution level information, which can be used to trigger adaptive filtering mechanisms and assess the hazard level of electromagnetic interference to mechanical control.

[0069] In this embodiment, a wideband electromagnetic sensor array deployed around the turntable in step 1011 first captures raw electromagnetic field strength data of the environment at a sampling rate of 10kHz. After analog-to-digital conversion by a 24-bit ADC, a fast Fourier transform algorithm is used to perform frequency domain analysis on the time-domain signal, extracting the spectral peak value of the signal in the 0-1kHz frequency band, identifying the main interference frequency and its harmonic components, and simultaneously calculating the instantaneous value of the maximum field strength within each time window using a sliding window peak detection algorithm. Finally, structured electromagnetic interference data containing peak intensity and fluctuation frequency set is output. For example, when working near a high-voltage transmission line, if the sensor detects a continuous field strength of 156V / m, fast Fourier transform analysis shows that the spectral energy is concentrated at the fundamental frequency of 100Hz and the second harmonic of 200Hz, outputting electromagnetic interference data with a peak intensity of 156V / m and a fluctuation frequency set [100Hz, 200Hz].

[0070] Next, based on the electromagnetic interference data output in step 1011, step 1022 calls the dynamic time warping algorithm to perform interference pattern matching: extracting the peak intensity distribution histogram and frequency energy weight vector of the new data, and aligning them with the multidimensional features of all historical patterns in the interference feature library to calculate similarity; if the highest similarity is lower than a preset threshold, the new entry creation process is initiated, generating an intensity range based on the current peak intensity fluctuation range, and simultaneously parsing the fundamental frequency and harmonic components in the frequency set to generate frequency feature labels. Finally, the new pattern entry containing the intensity range, frequency label, and initial suppression strategy is written into the interference feature library and the updated result is output. For example, when the input peak value is 182V / m and the frequency is [250Hz, 500Hz], after the matching fails, the entry "Switch Arc Interference" is created, with a corresponding intensity range of 180-185V / m and a frequency label of [250Hz±3Hz, 500Hz±5Hz], realizing the autonomous evolution of the interference feature library.

[0071] Finally, in step 1013, the three-phase current signal is acquired through the current feedback loop of the turntable motor driver, and power spectral density analysis is performed using a 200ms sliding window: the effective signal frequency band and the noise frequency band are divided, and the signal-to-noise ratio characteristic is generated by calculating the integral power ratio of the two frequency bands. The calculation formula is as follows: ,in The magnitude of the current signal when the motor is operating normally. The magnitude of the current noise energy caused by electromagnetic interference; when the signal-to-noise ratio (SNR) is detected to be lower than the preset threshold, the parameter generation module is activated, and the current main interference frequency is extracted from the interference feature library updated in step 1012 as the center frequency value. The depth setting value is calculated according to the peak intensity of the electromagnetic interference data using a linear mapping formula. The calculation formula is as follows: The width value is automatically set based on the main frequency fluctuation range. When setting, refer to... For example, if during a substation inspection, the signal-to-noise ratio (SNR) of a motor is detected to be 0.5, which is less than the threshold of 0.1, and the feature library contains the entry for "switching arc interference", then the output notch filter parameters are: center frequency = 250Hz, depth = -0.25×182≈-45.5dB, width = 250Hz×10% = ±25Hz.

[0072] In practical applications, when a certain type of UAV intelligent turntable performs inspection tasks in the strong electromagnetic environment of a substation, its electromagnetic sensors capture the raw electromagnetic field signal of the environment. Fast Fourier Transform analysis identifies that the spectral energy is concentrated at 250Hz and 500Hz, accounting for 70% and 30% respectively. Peak detection yields an instantaneous maximum field strength of 182V / m, forming structured electromagnetic interference data. The system then compares the intensity distribution of this data (single peak 182V / m) and its frequency weighting features with historical patterns in the interference feature library. Dynamic time warping algorithm calculations show a maximum similarity of only 78%, below the 85% threshold, classifying it as unknown interference. Based on this, a new entry named "Switching Arc Interference" is created: the intensity range is 182V / m ± 5%, calculated to be 173-191V / m, and the frequency labels are resolved to 250Hz ± 3Hz and 500Hz ± 5Hz, and written into the feature library. Simultaneously, the turntable motor current signal monitoring window detects an effective signal bandwidth integral power of 120 units and a noise bandwidth integral power of 240 units, calculating the signal-to-noise ratio. The value is far below the threshold of 1.0, triggering the generation of notch filter parameters. The main frequency of 250Hz is extracted from the new entry as the center frequency. The depth value is calculated as -0.25×182V / m to obtain -45.5dB. The width value is taken as 10% of the main frequency, i.e., 250×0.1=±25Hz. Finally, the output parameter group (250Hz, -45.5dB, ±25Hz) is passed to the subsequent suppression module.

[0073] The aforementioned overall solution (101) constructs a dynamic anti-interference foundation through the synergy of electromagnetic sensing and power signal monitoring: electromagnetic sensors accurately capture the peak intensity and frequency characteristics of environmental interference, driving the autonomous evolution of the interference feature library to identify unknown interference modes; simultaneously, the motor signal-to-noise ratio is monitored, and targeted notch parameters are generated based on the updated feature library when the signal deteriorates. This achieves a closed-loop linkage between environmental interference cognition and suppression strategies, providing precise input for subsequent cross-domain collaborative suppression, and blocking the transmission path from electromagnetic interference to mechanical vibration at the source.

[0074] 102. Based on the notch filter parameters, adjust the notch depth and bandwidth related to the turntable rotation jitter, simultaneously trigger the turntable nonlinear compensation and frequency domain adaptive equalization processing, identify the abrupt change signal of the rotation key frame in the turntable image stream and adjust the compensation intensity in combination with the signal-to-noise ratio characteristics to form an interference suppression closed-loop mechanism.

[0075] Optionally, step 102 may specifically include the following steps:

[0076] 1021. Input the notch filter parameters into the adjustable filter, block the main frequency of the rotation jitter according to the center frequency value, attenuate the jitter harmonic amplitude according to the depth setting value, and cover the rotation jitter spectrum range according to the width setting value.

[0077] 1022. Synchronously trigger the nonlinear compensation module to correct the image shift caused by rotation jitter, and trigger the frequency domain adaptive equalization module to suppress the interference energy of rotation-related frequency bands;

[0078] 1023. Scan and identify the turntable image stream, extract abrupt change signals in the rotation keyframes, and input the intensity vector of the abrupt change signals and the signal-to-noise ratio feature into the compensation regulator to adjust the compensation intensity;

[0079] 1024. The compensation intensity is output to the nonlinear compensation module and a feedback signal is generated to the adjustable filter, forming an interference suppression closed-loop mechanism from image recognition to parameter adjustment.

[0080] In the above scheme, the tunable filter refers to a digital filter device capable of adjusting its filtering characteristics. Among the notch filter parameters it receives, the center frequency value is used to block the main frequency of turntable rotational jitter, i.e., the fundamental frequency component of mechanical vibration; the depth setting value is used to control the attenuation intensity of harmonic amplitudes, i.e., integer multiples of the main frequency; and the width setting value is used to determine the bandwidth range of the rotational jitter spectrum to be covered. The nonlinear compensation module is a pixel offset correction algorithm unit based on a kinematic model, which compensates for image deformation by establishing a position offset mapping relationship. The frequency domain adaptive equalization module refers to a frequency band energy suppression unit using fast Fourier transform technology, which suppresses interference by identifying rotation-related interference frequency bands and dynamically reducing their gain. The intensity vector is a two-dimensional data set describing the characteristics of abrupt signal changes, containing two dimensions: pixel displacement and change rate. The compensation adjuster is a decision unit with a built-in intensity mapping table, which receives the intensity vector and signal-to-noise ratio characteristic data and outputs the corresponding compensation intensity level value. The feedback signal is a set of control instructions generated by image quality analysis, containing bandwidth adjustment suggestions and depth optimization instructions for the tunable filter, used to achieve dynamic iterative updates of the filter parameters.

[0081] In this embodiment, the notch filter parameters are first input to the adjustable digital filter in step 1021. This filter uses an IIR notch filter design algorithm for parameter configuration, setting a zero in the transfer function based on the center frequency value to completely block the signal at that frequency. The quality factor Q of the filter is dynamically adjusted according to the depth setting value to control the attenuation intensity of harmonic components, thereby reducing high-order vibration energy as needed. Finally, the stopband range is expanded according to a width setting value, such as ±2Hz, and a suppression band centered on the main frequency is formed by adjusting the pole positions to ensure coverage of the jitter spectrum range during speed fluctuations. For example, when the turntable detects a drift of the main frequency from 12Hz to 12.5Hz during the acceleration phase, the filter automatically adjusts the suppression band to 10.5Hz to 14.5Hz, continuously suppressing the target spectrum.

[0082] Next, after the notch filter parameters take effect, dual-module processing is triggered simultaneously: the nonlinear compensation module calls a pixel displacement mapping algorithm based on kinematic modeling, constructs a quadratic surface offset model by analyzing historical image sequences, and performs geometric correction by shifting the coordinates of each pixel in the current frame in the reverse direction according to the model. For example, if the overall image is detected to have shifted 3 pixels to the right, a coordinate transformation of shifting 3 pixels to the left is applied to all pixels. At the same time, the frequency domain adaptive equalization module starts block-based fast Fourier transform processing, divides the image into 8×8 pixel blocks and performs fast Fourier transform to identify characteristic frequency bands strongly correlated with rotation jitter, and dynamically calculates the suppression coefficient k of the frequency band. The calculation formula is as follows: ,in The signal-to-noise ratio weighting factor. and The interference frequency band energy and total energy are respectively calculated, and finally, the target frequency band spectrum is weighted and corrected to achieve coordinated suppression of spatial and frequency domain interference. For example, if the characteristic frequency band is identified as 10-15Hz, when... When the interference accounts for 30%, k is calculated to be 0.76, which means that the amplitude of the 10-15Hz frequency band is compressed to 76% of the original value.

[0083] Then, in step 1023, after receiving the image stream processed in step 1022, the keyframes are scanned frame by frame using an inter-frame difference algorithm, and adaptive threshold segmentation is used to lock abrupt change regions. Next, ORB feature point detection is used to extract stable feature points within the key regions, and the displacement vectors of feature points between adjacent keyframes are tracked based on the sparse optical flow method to calculate the average displacement. and mutation rate This forms a two-dimensional vector describing the intensity of the mutation. Finally, the vector and the signal-to-noise ratio (SNR) feature are input into a three-dimensional lookup table decision generator. This lookup table is established through experimental calibration and outputs the corresponding compensation intensity level value to drive subsequent modules. For example, in a high-speed turn scenario of a drone, if a 4.5-pixel displacement is detected in a 90° keyframe and the SNR drops sharply to 14dB, an intensity level of 3 is output after table matching, triggering a strong compensation mode to cope with severe shaking.

[0084] Finally, based on the compensation intensity level value output in step 1023, this level value is input into the parameter mapping unit of the nonlinear compensation module. The scaling ratio of the pixel displacement model is adjusted through the preset intensity gain relationship curve to enhance the geometric correction and achieve more aggressive spatial deformation compensation. At the same time, the sudden signal spectrum analysis engine is started to perform a 512-point fast Fourier transform on the sudden signal extracted in step 1023 to identify the concentrated frequency band of high-frequency jitter energy. Based on this, a bandwidth adjustment command is generated: if the deviation between the peak frequency and the current notch center frequency is less than the threshold, a narrowing bandwidth command is output; if the deviation exceeds the threshold or there are multiple peaks, a widening bandwidth command is output. This command is fed back to the adjustable filter in step 1021 to complete parameter iteration. Finally, through dual-channel closed-loop verification, the dynamic optimization of the cross-domain suppression strategy is ensured.

[0085] In practical applications, when a border patrol drone equipped with an intelligent optoelectronic turntable was performing surveillance missions in a region with strong electromagnetic interference, the turntable's servo system detected abnormal jitter caused by wind speed disturbances and electromagnetic pulse coupling. Calculations of the notch filter parameters yielded a main frequency center value of 11.5Hz, a depth of -28dB, and a width of ±1.5Hz. An adjustable filter was used to generate a stopband of 10-13Hz, completely suppressing the 11.5Hz fundamental frequency and attenuating the 23Hz harmonic energy by 28dB. Simultaneously, dual modules were activated. The nonlinear compensation module fitted a pitch axis offset model based on gyroscope data and performed reverse displacement compensation on the image frames. The measured pitch jitter was 3.2 pixels, with a residual of 0.4 pixels after compensation. Simultaneously, the frequency domain equalization module analyzed the image spectrum and found abnormal energy in the 8-16Hz frequency band. Full frequency band =22, combined with the signal-to-noise ratio (SNR) of 16dB, the weighting factor table yields α=0.85, and the suppression coefficient is calculated. The frequency band was compressed by 21.7%; then, optical flow tracing was triggered in a keyframe after the turntable rotated horizontally by 90° to detect the average displacement of the feature point group. Pixels, and time window The mutation rate is approximately 34.2 px / s. An intensity vector [4.1, 34.2] is generated and input into a three-dimensional decision table with an SNR of 16 dB. The range of displacement of 4-6 pixels, rate of 30-40 px / s, and signal-to-noise ratio of 15-18 dB is matched, and the compensation intensity level 3 is output. Finally, the intensity level 3 is mapped to a compensation coefficient gain of 1.5 times. At the same time, the main peak of the mutation signal spectrum is analyzed to be 11.7 Hz, which deviates from the current notch center of 11.5 Hz by 0.2 Hz, which is less than the threshold of 0.5 Hz. A bandwidth narrowing instruction is generated, updating the original 10-13 Hz stopband to 11.5-11.9 Hz. After closed-loop adjustment, the inter-frame displacement of the image is reduced to 0.9 pixels, which meets the requirements of reconnaissance imaging stability.

[0086] The overall scheme of the above 102 accurately suppresses the core spectrum of rotational jitter through an adjustable filter, and achieves spatial offset correction and frequency domain interference suppression by combining dual-module synchronous processing; it dynamically adjusts the compensation intensity by utilizing the characteristics of image stream abrupt signal and electrical signal, and constructs a closed-loop control chain from image quality feedback to filter parameter optimization, which significantly improves the image stability and anti-interference robustness of the turntable in complex motion environments.

[0087] 103. During the operation of the interference suppression closed-loop mechanism, the high-frequency jitter features in the mutation signal are extracted by the inner loop control, and the high-frequency jitter features are fused with the turntable interference prediction data by the outer loop prediction to generate primary suppression parameters. The motion state analysis of the primary suppression parameters and electromagnetic interference data is performed to generate cross-domain suppression commands.

[0088] Optionally, step 103 may specifically include the following steps:

[0089] 1031. During the operation of the interference suppression closed-loop mechanism, the high-frequency jitter features with a change rate exceeding a preset threshold are extracted from the sudden signal through the inner loop control module;

[0090] 1032. The high-frequency jitter characteristics are spatiotemporally fused with the turntable interference prediction data stored in the outer loop prediction module to generate primary suppression parameters including frequency suppression coefficient and amplitude correction coefficient.

[0091] 1033. Perform motion trajectory analysis on the primary suppression parameters and electromagnetic interference data, and generate a cross-domain suppression command that includes rotation suppression term and electromagnetic suppression term by comparing the fluctuation pattern of the primary suppression parameters and electromagnetic interference data within the same time window.

[0092] In the above scheme, high-frequency jitter characteristics refer to rapid abnormal fluctuations identified from abrupt changes in the image stream signal, with a rate of change exceeding a preset threshold, typically caused by electromagnetic interference or mechanical vibration. Turntable interference prediction data is future interference information pre-calculated by the system based on historical interference patterns, including possible interference types, intensities, and durations. Primary suppression parameters refer to intermediate control parameters generated after fusing high-frequency jitter characteristics and interference prediction data, specifically composed of frequency suppression coefficients and amplitude correction coefficients. Cross-domain suppression commands are the final generated collaborative control commands, including rotation suppression terms for adjusting the turntable attitude and a hierarchical error correction protocol to address electromagnetic interference.

[0093] In this embodiment, step 1031 first calculates the displacement of adjacent frame feature points of the abrupt change signal in the image stream using the inner loop control module. The preset feature points are tracked using optical flow, and their coordinate differences between two consecutive frames are calculated and divided by the frame interval to obtain the displacement rate. Next, dynamic threshold filtering is performed, comparing the displacement rate with a preset threshold. When a feature point's rate exceeds the threshold for three consecutive frames, it is marked as a high-frequency jitter feature, and its coordinates and rate value are output. For example, in a power inspection scenario, the system identifies the displacement of the corner point of an insulator string on a power tower. The coordinates are (120, 80) in frame t, (158, 83) in frame t+1, and calculated over a frame interval of 40ms. If the value is greater than the threshold of 25, it is marked as a high-frequency jitter feature F3.

[0094] Then, in step 1032, the high-frequency jitter features output in step 1031 are received. These features are then spatiotemporally aligned with the interference prediction data in the outer loop prediction module using a timestamp synchronization mechanism. A Kalman filter algorithm is used to compensate for sensor transmission delay, ensuring both are on the same time reference. Subsequently, dual-source fusion calculation is performed: a fast Fourier transform analysis is performed on the high-frequency jitter features to extract their energy weights in key frequency bands. These weights are then multiplied by the frequency correlation coefficient in the predicted interference data to generate a frequency suppression coefficient. Simultaneously, the ratio of the actual peak amplitude of the jitter features to the maximum permissible interference amplitude in the predicted data is calculated using the formula... The amplitude correction coefficient is obtained; finally, the frequency suppression coefficient and the amplitude correction coefficient are packaged into a structured primary suppression parameter output. For example, when a corner displacement rate of 42.3 pixels / millisecond is detected in a power line inspection scenario, the system aligns the predicted data to "L3 level power frequency interference". After FFT analysis, the jitter energy accounts for 80% at 50Hz and the historical correlation is 90%. Multiplying these values, the frequency coefficient is calculated to be 0.72. Based on the measured jitter amplitude of 60 units and the amplitude coefficient of 0.4, the primary parameter (0.72, 0.4) is output for subsequent use.

[0095] Finally, a dynamic time warping algorithm is used to match the waveform morphology of the primary suppression parameters and the electromagnetic interference data stream. The frequency coefficients in the primary suppression parameters are converted into simulated frequency fluctuation curves, and point-by-point similarity calculations are performed between these curves and the measured electromagnetic interference data within a 20ms time window. When the similarity exceeds a preset threshold of 0.8, the system initiates cross-domain instruction generation: based on the spatial direction information of the high-frequency jitter characteristics, the frequency suppression coefficients are converted into rotational suppression terms, using a proportional mapping formula: The system generates precise control commands; synchronously, it triggers the corresponding electromagnetic suppression protocol based on the intensity level in the interference prediction data, matching according to preset rules: L1 level activates forward error correction, L2 level activates frequency domain spread spectrum, and L3 level activates the "data retransmission + Hamming code" combined anti-interference mechanism, finally packaging it into a complete cross-domain suppression command and outputting it to the execution module. For example, when the input primary parameters, frequency coefficient 0.72, amplitude coefficient 0.4, and measured 50Hz power frequency interference data have a similarity of 0.88 after DTW matching, which is greater than the threshold of 0.8, the rotation suppression term "YAW axis torque reduced by 12%" is generated based on the corner point right shift feature. At the same time, the electromagnetic suppression term "transmit redundant data twice per frame and add Hamming code error correction" is activated according to L3 level interference.

[0096] In practical applications, when the intelligent turntable of a maritime patrol drone performs target tracking tasks in a strong electromagnetic interference environment, it analyzes the image stream using optical flow. It detects that a buoy feature point moves from coordinates (150, 200) in frame t to (192, 205) in frame t+1, with a frame interval of 40 milliseconds. This is calculated to be approximately 42.5 pixels / millisecond, exceeding the preset threshold of 25. This is identified as a high-frequency jitter feature F4, and its direction and amplitude value of 60 units are output. Subsequently, F4 is aligned with the predicted "L3-level radar band interference in the next 50 milliseconds" from the outer ring. FFT analysis shows that F4 accounts for 75% of the energy in the 80Hz frequency band. Combined with the historical database, the correlation coefficient between interference and jitter in this frequency band is 85%. The calculation... Simultaneously calculate The initial parameters (0.64, 0.4) are generated; then, the initial parameters are converted into an 80Hz reference waveform, and compared with the measured electromagnetic interference data using the DTW algorithm. The similarity is 0.86, which is greater than the threshold of 0.8. Combined with the positive X-axis displacement characteristics of F4, the torque adjustment formula is used. The rotation suppression term "Pitch motor torque increased by 12%" is generated, and the electromagnetic suppression term "Enable dual-channel Turbo code error correction" is activated according to L3 level interference. Finally, the image jitter caused by sea waves and radar interference is suppressed in a coordinated manner.

[0097] The overall scheme described above (103) extracts high-frequency jitter features from the image stream abrupt change signal through the inner loop, and performs spatiotemporal fusion with the interference prediction data from the outer loop to generate primary suppression parameters that include frequency and amplitude adjustments. These parameters are then subjected to waveform matching analysis with measured electromagnetic interference. When the similarity exceeds a threshold, rotation suppression and electromagnetic suppression terms are dynamically output. The entire process achieves a closed-loop correlation between electromagnetic interference features and mechanical jitter signals. Through cross-domain command collaboration, it suppresses abnormal turntable rotation and data transmission distortion, significantly improving image stability and continuity under complex electromagnetic environments.

[0098] 104. Execute turntable anti-interference coding based on the cross-domain suppression command, configure turntable attitude-related coding scheme according to the rotation suppression item in the cross-domain suppression command, set rotation scene error correction protocol hierarchically according to the electromagnetic suppression item in the cross-domain suppression command, and perform closed-loop verification on the coded data in combination with turntable link feedback;

[0099] Optionally, step 104 may specifically include the following steps:

[0100] 1041. Analyze the rotation suppression term in the cross-domain suppression instruction, and generate a turntable attitude-related coding scheme containing the compensation displacement of each tilt angle interval based on the jitter suppression coefficient and tilt angle association mapping table contained in the rotation suppression term.

[0101] 1042. Analyze the electromagnetic suppression item in the cross-domain suppression instruction, divide the rotation scene according to the interference intensity level, and configure an error correction protocol for each level scene that includes the data check bit length and the error correction threshold.

[0102] 1043. Integrate the aforementioned turntable attitude-related coding scheme with the aforementioned error correction protocol to construct an anti-interference coded data packet and feed it back to the turntable actuator via the turntable link;

[0103] 1044. Receive the position coordinates fed back by the turntable actuator, calculate the inter-frame deviation value between the position coordinates and the expected position coordinates in the anti-interference coded data packet, and when the deviation value of multiple consecutive frames exceeds the set tolerance, generate a closed-loop verification signal to trigger the reconstruction of the anti-interference coded data packet and output a position deviation report.

[0104] In the above scheme, the turntable anti-interference coding refers to a dynamic control strategy generated based on cross-domain suppression instructions, including mechanical attitude compensation rules and data transmission protection mechanisms, used to collaboratively offset the effects of rotational jitter and electromagnetic interference on image transmission. The rotation suppression term refers to the control parameters for mechanical jitter in the cross-domain suppression instructions, used to generate anti-jitter displacement commands. The turntable attitude-related coding scheme refers to a compensation instruction set dynamically calculated based on the rotation suppression term, including pixel displacement in each tilt angle interval, used to correct image offset caused by turntable tilt. The electromagnetic suppression term refers to the protection parameters for electromagnetic interference in the cross-domain suppression instructions, used to trigger error correction protocols adapted to the current electromagnetic environment. The error correction protocol refers to data protection rules configured hierarchically according to the electromagnetic suppression term, used to ensure data transmission integrity under strong interference. The anti-interference coded data packet refers to a joint instruction set integrating the attitude coding scheme and the error correction protocol, used to send collaborative control commands to the actuators through the anti-interference link. The position deviation report refers to the quantized error data generated in the closed-loop verification stage, including the inter-frame pixel difference between the actual coordinates and the expected coordinates, and the interference level, used to trigger anti-interference strategy reconstruction and system parameter optimization.

[0105] In this embodiment, step 1041 is first used to parse the rotation suppression term in the cross-domain suppression command, extracting the jitter suppression coefficient k and tilt angle correlation mapping table contained therein. The current turntable tilt angle is then determined by looking up the table. Match the corresponding interval and obtain the basic displacement. Then, the actual compensation displacement is calculated by combining the jitter suppression coefficient k. The final output includes the actual compensated displacement. The encoding scheme related to the attitude of the turntable and attitude adjustment commands. For example, a surveying UAV turntable detects a tilt angle. Looking up the mapping table, we get the 5°-10° range. Pixels, currently k=0.7, calculate Pixels, generated encoding: "Horizontal compensation +0.35 pixels, pitch angle -2°".

[0106] Next, based on the electromagnetic suppression item in the cross-domain suppression instruction in step 1042, the interference strength level L contained therein is parsed. A pre-stored protocol configuration rule base is invoked to match the corresponding error correction protocol according to the interference strength level L value, including setting the check bit length. and error correction threshold For example, when L=4 , This protocol will be used for error detection and correction during data transmission. For example, if L=4 level interference is detected near a high-voltage transmission line, the system will automatically enable a 32-bit parity bit to override the default 16 bits, and will only perform corrections when the error rate of a single frame is less than 5%.

[0107] Then, in step 1043, the turntable attitude-related coding scheme generated in step 1041 and the error correction protocol generated in step 1042 are binary-fused: the turntable attitude-related coding is used as the data payload, and the error correction protocol is used as the data header encapsulation. The fused anti-interference coded data packet is sent to the turntable actuator through spread spectrum communication technology, with a timestamp and sequence number attached. For example, the binary code 0x23 corresponding to the "lateral compensation +0.35 pixels" instruction is fused with the header identifier 0x1F corresponding to the 32-bit check protocol to form a complete data packet 0x1F+0x23, which is sent to the motor controller via the 2.4GHz spread spectrum link.

[0108] Finally, the position coordinates fed back by the turntable actuator are received in step 1044. The expected coordinates in the anti-interference encoded data packet Comparison was performed using the Euclidean distance formula. Calculate the inter-frame deviation value; then, use a sliding window counting algorithm to monitor the deviation status of consecutive frames. If the deviation value is less than a preset number of consecutive frames... If all exceed the tolerance threshold, a closed-loop verification signal is generated to trigger an alarm; simultaneously, a position deviation report is automatically generated, and the system is driven to backtrack to steps 1041-1043 to regenerate anti-interference coded data packets. For example, when 5 consecutive frames are detected... When the number of pixels exceeds the tolerance limit by 3 pixels, the report will be fed back to the mapping table for adjustment, increasing the 8° tilt compensation from 0.5 pixels to 0.6 pixels and upgrading the error correction protocol, increasing the check bits from 32 bits to 40 bits to achieve dynamic optimization and reconstruction.

[0109] In practical applications, a surveying UAV turntable encountered strong electromagnetic interference and complex attitudes while performing terrain scanning tasks in mountainous areas. The system first parsed the cross-domain suppression command: read the jitter suppression coefficient of 0.8 in the rotation suppression term and the tilt angle mapping table, the basic displacement of 0.5 pixels in the 5°-10° range, and calculated the actual displacement compensation. Pixels are used to generate the attitude code "lateral compensation + 0.4 pixels"; the interference level of the electromagnetic suppression term is simultaneously analyzed to be level 4, the pre-stored rules are invoked to enable the 32-bit check bit and set a 5% error correction threshold; the above data is fused into an anti-interference code packet containing the compensation instruction 0x2A + 32-bit header identifier 0x1F, and sent to the gimbal motor via the spread spectrum link. After execution, the deviation between the actual coordinates (102, 203) and the expected value (100, 200) is detected: ,in, This indicates the square root sign. When the deviation exceeds the 3-pixel tolerance for 3 consecutive frames, a position deviation report is generated, averaging... Pixels, interference level 4, triggering system reconstruction: Increase the 7° tilt compensation from 0.5 pixels to 0.6 pixels, then Furthermore, the parity bit has been upgraded to 40 bits, resulting in a stable output image stream.

[0110] The overall solution described above (104) dynamically calculates the pixel compensation amount corresponding to the turntable tilt angle by analyzing the rotation suppression term in the cross-domain command, and simultaneously configures a graded error correction strategy according to the electromagnetic interference level. It integrates mechanical anti-shake commands and data transmission rules into an anti-interference encoding packet, which is sent to the actuator via spread spectrum communication. It receives the gimbal feedback coordinates, calculates the inter-frame deviation from the expected position using Euclidean distance, and generates a position deviation report containing the interference level when multiple consecutive frames exceed the limit. This drives the system reconstruction strategy, increases the tilt angle compensation amount, strengthens the verification strength, and iterates until the deviation converges. This process, through the dual-path collaboration of mechanical displacement compensation and electromagnetic error correction, eliminates image shift caused by body shake and blocks transmission errors caused by electromagnetic interference. Ultimately, it outputs a stable video stream without sudden changes or stuttering in a strong interference environment, significantly improving the robustness of the unmanned turntable in complex scenarios.

[0111] 105. Feedback the turntable environmental adaptation parameters output by the closed-loop verification to the interference feature library update and the compensation intensity adjustment process to achieve coordinated control of electromagnetic interference and mechanical jitter, so as to output a stable image stream.

[0112] Optionally, step 105 may specifically include the following steps:

[0113] 1051. Convert the position deviation report output by the closed-loop verification into turntable environmental adaptation parameters that include offset angle, displacement amount and environmental interference level;

[0114] 1052. Write the offset angle and displacement amount in the environmental adaptation parameters as new records into the interference feature library to update the interference feature library. At the same time, input the displacement amount in the environmental adaptation parameters into the compensation regulator and output the correction value of the compensation intensity through the displacement intensity mapping table.

[0115] 1053. By continuously updating the interference feature library and dynamically adjusting the compensation intensity, a dual-channel collaborative mechanism is formed, enabling the electromagnetic interference suppression subsystem and the mechanical jitter suppression subsystem to achieve control law linkage based on environmental adaptation parameters, and outputting a stable video stream that eliminates inter-frame mutations to the image processing terminal.

[0116] Step 1053 may specifically include the following processes: inputting the continuously updated interference feature library and the correction value of the compensation intensity into the collaborative controller to activate the dual-channel collaborative mechanism; simultaneously inputting environmental adaptation parameters into the electromagnetic interference suppression subsystem and the mechanical jitter suppression subsystem; in the electromagnetic interference suppression subsystem, calculating the lower limit of the filtering frequency according to the environmental interference level, and converting the lower limit of the filtering frequency into the harmonic monitoring range of the mechanical jitter suppression subsystem; in the mechanical jitter suppression subsystem, setting the compensation intensity reference value according to the displacement, and mapping the compensation intensity reference value to the amplitude attenuation threshold of the electromagnetic interference suppression subsystem; generating image frame processing instructions based on the interactive output of the electromagnetic interference suppression subsystem and the mechanical jitter suppression subsystem; and outputting a stable video stream to the terminal device when the offset of consecutive fixed frames is lower than the set threshold.

[0117] In the above scheme, the turntable environmental adaptation parameter refers to the dynamic data set characterizing the spatial pose offset state of the turntable in an electromagnetic interference environment, used to drive the dynamic optimization of the cross-domain suppression strategy. The correction value of the compensation intensity refers to the mechanical jitter suppression force adjustment amount generated based on the displacement through a predefined mapping relationship, used to calibrate the response intensity of the anti-jitter control system. The dual-channel collaborative mechanism refers to the closed-loop architecture constructed by the parallel interference feature library update channel and the compensation intensity adjustment channel, used to realize the linkage of control laws between the electromagnetic suppression subsystem and the mechanical suppression subsystem. The electromagnetic interference suppression subsystem refers to the interference filtering module constructed based on electromagnetic field sensing and frequency domain analysis, used to block the transmission path of electromagnetic noise to mechanical components. The mechanical jitter suppression subsystem refers to the actuator that suppresses physical vibration through motion compensation algorithm and torque control, used to eliminate image frame offset during turntable rotation. The harmonic monitoring range refers to the abnormal vibration frequency range that needs to be monitored and transmitted from the electromagnetic suppression subsystem to the mechanical suppression subsystem, used to locate the key frequency points of electromagnetically induced mechanical resonance. The amplitude attenuation threshold refers to the interference signal filtering activation threshold fed back from the mechanical suppression subsystem to the electromagnetic suppression subsystem, used to trigger an emergency noise reduction mechanism in strong interference scenarios. The image frame processing instruction refers to the video stream output control signal generated after cross-domain collaborative verification, used to release a high-quality image stream to the terminal after eliminating inter-frame abrupt changes.

[0118] In this embodiment, the coordinate transformation process is initiated first in step 1051 upon receiving the position deviation report from the image processing unit. The pixel offset vector is processed by the arctangent function calculation module: the tilt angle is calculated with the X-axis offset as the base and the Y-axis offset as the opposite side; the physical scale converter is called to combine the pixel offset with preset pixel physical conversion coefficients to calculate the actual displacement. The calculation formula is as follows: Simultaneously, the electromagnetic field strength classifier reads electromagnetic sensor data, matches it against an interference level lookup table, and finally packages and outputs structured environmental adaptation parameters: offset angle, displacement, and environmental interference level. For example, this is used when an agricultural drone measures electromagnetic field strength near a high-voltage power line. Pixels Pixel and field strength 110V / m, after conversion, the result is , Level 4.

[0119] Next, using the environmental adaptation parameters output in step 1051, step 1052 performs interference library updates and compensation adjustments in parallel. In the interference library update channel, the spatiotemporal correlation engine binds the offset angle and displacement amount to timestamps and location information, writing them as new records into the distributed interference feature database. Simultaneously, in the compensation adjustment channel, the displacement intensity mapper receives the displacement data, queries a predefined gradient mapping table, and outputs compensation intensity adjustment instructions. Continuing the previous example, the UAV writes 32° and 0.48mm into the database and converts the displacement amount into a +15% compensation correction value by looking up the table.

[0120] Finally, based on the updated database and compensation correction values ​​from step 1052, the co-controller activates the dual-system linkage in step 1053. The electromagnetic suppression subsystem receives the environmental interference level and calculates it using the formula via the frequency domain calculation module. The harmonic monitoring range is generated, and the frequency band to be monitored by the mechanical subsystem is set. The mechanical jitter suppression subsystem receives the frequency band range and compensation correction value, and the coupling coefficient converter calculates the result according to the formula. The electromagnetic interference filtering threshold is calculated and fed back to the electromagnetic subsystem. Finally, the frame stability analyzer continuously monitors the offset angle of subsequent image frames. When all angles are less than a preset threshold, an image frame processing command is generated, triggering a stable video stream output protocol. In the previous example of drone linkage, the mechanical system captures and suppresses abnormal vibrations in the 40-100Hz frequency band, and the electromagnetic system initiates 50% attenuation for interference signals >92N·m. After 5 consecutive frames with an offset <1.5°, a smooth video stream without jumps is output to terminal C.

[0121] In a practical application, when an unmanned intelligent turntable was performing an inspection task near a high-voltage power transmission line, the image processing unit detected a positional deviation report. Pixels Pixel, the system performs the conversion process: first, the offset angle is calculated using the arctangent function. Then, combining the preset pixel physical conversion coefficient of 0.01mm / pixel, the pixel offset is substituted into the Euclidean distance formula. The pixels are converted into an actual displacement of 0.49 mm. Simultaneously, based on the 110 V / m field intensity read by the electromagnetic sensor, it is matched to environmental interference level 4 using an interference classification table. The system then processes these two parameters in parallel: the 24° offset angle and 0.49 mm displacement are bound to the GPS location "B area east" and written into the interference feature database to form a historical record. Simultaneously, the 0.49 mm displacement is input into the compensation regulator, and by querying a preset mapping table, the compensation torque is calculated to increase from the original 100 N·m to 115 N·m. Then, the co-controller activates the dual-system linkage: the electromagnetic suppression subsystem, based on interference level 4, calculates according to the formula... "The lower limit for harmonic monitoring was calculated to be 40Hz, and the mechanical subsystem was instructed to focus on monitoring the 40-100Hz frequency band. Based on the new compensation torque of 115N·m and a safety factor of 0.8, the mechanical subsystem calculated an amplitude attenuation threshold of 92N·m and fed it back to the electromagnetic subsystem. The latter then initiated a 50% attenuation of interference signals exceeding this threshold. After this coordinated suppression, the system detected that the offset angles of five consecutive frames (1.3°, 0.9°, 1.1°, 0.7°, 1.0°) were all less than the preset 2° stability threshold. The system then generated image frame processing instruction 0x01 and output a high-definition video stream of the transmission tower insulators without any jumps to the monitoring terminal."

[0122] The aforementioned overall solution (105) generates environmental adaptation parameters by accurately analyzing positional deviations, and dynamically updates the interference feature library and adjusts the compensation intensity for each channel. Subsequently, a deep collaborative dual-system architecture is constructed: the electromagnetic system outputs harmonic monitoring range to guide the mechanical system in accurately capturing abnormal vibrations, while the mechanical system provides feedback attenuation thresholds to constrain the electromagnetic filtering intensity, forming a closed-loop linkage. Finally, after eliminating inter-frame abrupt changes, a continuous and stable video stream is output, significantly improving the robustness of image transmission in complex electromagnetic environments.

[0123] The following is a complete example for steps 101-105, such as Figure 2As shown, when a geological exploration UAV's intelligent turntable performs aerial surveying in an iron ore area, the system captures broadband electromagnetic interference data from the operating environment through a three-axis electromagnetic sensor array integrated into the turntable base. This includes 50Hz fundamental + 150Hz third harmonics from high-voltage power transmission lines (intensity 85dBμV / m), transient pulse interference from large mining drilling rigs (pulse width 2ms, peak value 120V / m), and ground-penetrating radar scattering noise at a frequency of 2.4GHz (fluctuation ±15dB). After FFT spectrum analysis, this raw data is classified into three categories: "periodic industrial interference," "transient pulses," and "broadband background noise," and updated to the electromagnetic fingerprint partition of the turntable's interference feature library. Synchronous monitoring of the current signal-to-noise ratio (SNR) characteristics of the brushless motor driver: During pulse interference, the SNR drops sharply from the normal 28dB to 18dB. Combined with newly entered pulse spectrum characteristics from the interference database, with a center frequency of 12.5kHz and a bandwidth of ±3kHz, targeted notch filter parameters are generated: center frequency 12.5kHz, depth -40dB, Q value 8.5. Rounding optimization.

[0124] Next, based on the notch filter parameters, the core parameters of the digital notch filter are dynamically adjusted: the notch depth related to rotational jitter is increased from the default -30dB to -40dB to enhance pulse interference suppression capability, while the bandwidth is expanded from ±2kHz to ±3kHz to cover the full spectrum range of mining drill rig pulses (12.5kHz ±3kHz). This adjustment simultaneously triggers dual-path anti-interference processing: on the mechanical control side, the nonlinear compensation module uses a Hammerstein feedforward model to correct motor torque fluctuations based on signal-to-noise ratio characteristics. Calculate compensation amount And inject motor drive current; on the image transmission side, the frequency domain adaptive equalizer performs energy redistribution on 32 sub-bands, focusing on boosting the disturbed sub-bands 3-5 to compensate for the spectral dip caused by electromagnetic noise. Meanwhile, the YOLOv5 object detection model deployed in the image pipeline identifies a sudden change signal in the geological marker point in the 1024th frame rotation keyframe, with the horizontal offset increasing sharply by 35 pixels, exceeding the 20-pixel stability threshold, triggering the compensation intensity adjuster: combined with the current... The deterioration state is determined by a linear interpolation formula. The motion compensation weighting coefficient was increased from the baseline value of 0.6 to 0.8, thereby constructing an initial closed-loop suppression mechanism that covers mechanical jitter suppression and image transmission optimization.

[0125] During the continuous operation of the closed-loop suppression mechanism, the inner loop control unit performed high-frequency feature extraction on the 35-pixel offset of the 1024th frame of the abrupt signal: using the db4 wavelet basis for 5-level wavelet packet decomposition, the 125-250Hz frequency band component was separated from the residual jitter signal. Its energy accounted for as much as 62% of the total jitter energy, higher than the normal 40%, indicating that electromagnetic pulse interference had induced mechanical resonance. The outer loop prediction engine simultaneously fused this high-frequency jitter feature with the turntable interference prediction data. The latter analyzed historical electromagnetic interference patterns based on the LSTM time series model. The pulse recurrence period in the iron ore area was 120±15ms, and the predicted pulse interference recurrence probability within the next 200ms reached 92%. The two types of data were correlated through a coupling matrix to generate primary suppression parameters: high-frequency jitter suppression gain 2.3 and pulse interference protection level 4. Subsequently, the motion state analyzer combined the electromagnetic interference data to perform cross-domain coupling modeling: in the mechanical domain, the correlation coefficient between high-frequency jitter energy and electromagnetic pulse intensity was analyzed, and in the electromagnetic domain, the total harmonic distortion rate of the motor current was detected to have risen to 12%, exceeding the 8% safety threshold. The final output structured cross-domain suppression command: the rotation suppression term requires the high-frequency gain mode to be set to "enhanced" state, the operating frequency band to be limited to 125-250Hz, and the dynamic compensation margin to be increased by 30%; the electromagnetic suppression term activates the four-level protection strategy.

[0126] Then, based on the rotation suppression term in the cross-domain suppression command, the jitter suppression coefficient k=1.3 and the tilt displacement mapping table are obtained. The current turntable tilt angle θ=24° is analyzed, and the basic displacement is calculated by matching the 20-25° interval through table lookup and linear interpolation. Then calculate the actual compensation displacement. Subsequently, an attitude-related coding scheme is generated: Converted into motor torque increment The PID parameters are superimposed to form a composite instruction injected into the servo system. Electromagnetic suppression is executed synchronously: LDPC(2048,1024) encoding and 1:0.7 dynamic spectrum compression are initiated. Closed-loop verification shows that the torque fluctuation standard deviation decreased from 0.18 N·m to 0.10 N·m, a reduction of 44%, and the image bit error rate (BER) was optimized to [value missing]. The average offset of subsequent frames decreased to 8.7 pixels, a 75% improvement over the abrupt frame.

[0127] Finally, the position deviation report is converted into three-dimensional environmental adaptation parameters. The offset angle is calculated using geometric triangulation, and then the actual displacement is calculated using a pixel physical conversion factor of 0.01 mm / pixel. Rounded to 0.10mm, while maintaining environmental interference level 4. Sub-channel feedback processing: The spatiotemporal correlation engine binds the offset angle of 4.7° and the displacement of 0.10mm to the GPS coordinates of the iron ore area and writes them into the interference feature library, forming a new sample of the pulse interference pattern; the compensation regulator inputs the displacement of 0.10mm into a preset mapping table, with a -5% compensation correction corresponding to the displacement <0.2mm range, reducing the mechanical subsystem's compensation torque from 115N·m to 109.25N·m. The collaborative controller then activates deep linkage between the two systems: the electromagnetic suppression subsystem sets the lower limit of the harmonic monitoring range to 40-100Hz according to the formula "fundamental frequency 10Hz × 4 = 40Hz" based on interference level 4 and notifies the mechanical subsystem; the mechanical subsystem calculates the amplitude attenuation threshold of 87.4N·m based on the corrected compensation value of 109.25N·m and a safety factor of 0.8, and feeds it back to the electromagnetic subsystem. Through this collaboration, the standard deviation of the offset angle of the subsequent 200 frames of images was stabilized within ±0.15°, and the physical displacement was ±1.8 pixels, which remained below the stable threshold of ±2.5 pixels. Finally, a stable video stream with clearly identifiable iron ore vein texture was transmitted to the geological analysis terminal, reducing the exploration task time by 40% compared to the traditional method.

[0128] Figure 3 This application provides a schematic diagram of the structure of an intelligent image stabilization system for an unmanned intelligent turntable, as shown in the embodiment of the present application. Figure 3 As shown, the system includes:

[0129] The acquisition module 31 is used to acquire electromagnetic interference data in the turntable's operating environment, update the turntable's interference feature library based on the electromagnetic interference data, and monitor the signal-to-noise ratio characteristics of the turntable's power components to generate notch filter parameters.

[0130] Processing module 32 is used to adjust the notch depth and bandwidth related to turntable rotation jitter according to the notch filter parameters, synchronously trigger turntable nonlinear compensation and frequency domain adaptive equalization processing, identify the abrupt signal of rotation key frame in the turntable image stream and adjust the compensation intensity in combination with the signal-to-noise ratio characteristics to form an interference suppression closed-loop mechanism.

[0131] The generation module 33 is used to extract high-frequency jitter features from the mutation signal through inner loop control during the operation of the interference suppression closed-loop mechanism, use outer loop prediction to fuse the high-frequency jitter features with turntable interference prediction data to generate primary suppression parameters, and perform motion state analysis on the primary suppression parameters and electromagnetic interference data to generate cross-domain suppression commands.

[0132] Execution module 34 is used to execute turntable anti-interference coding based on the cross-domain suppression instruction, configure turntable attitude-related coding scheme according to the rotation suppression item in the cross-domain suppression instruction, set rotation scene error correction protocol in stages according to the electromagnetic suppression item in the cross-domain suppression instruction, and perform closed-loop verification of the coded data in combination with turntable link feedback.

[0133] The output module 35 is used to feed back the turntable environmental adaptation parameters output by the closed-loop verification to the interference feature library update and the compensation intensity adjustment process, so as to realize the coordinated control of electromagnetic interference and mechanical vibration, so as to output a stable image stream.

[0134] Figure 3 The intelligent image stabilization system of the unmanned intelligent turntable described above can perform... Figure 1 The implementation principle and technical effects of the intelligent image stabilization method for an unmanned intelligent turntable described in the illustrated embodiment will not be repeated here. The specific methods by which each module and unit of the intelligent image stabilization system for an unmanned intelligent turntable in the above embodiments are described in detail in the embodiments related to this method, and will not be elaborated upon here.

[0135] In one possible design, Figure 3 The intelligent image stabilization system of the unmanned intelligent turntable in the embodiment shown can be implemented as a computing device, such as... Figure 4 As shown, the computing device may include a storage component 41 and a processing component 42;

[0136] The storage component 41 stores one or more computer instructions, wherein the one or more computer instructions are invoked and executed by the processing component 42.

[0137] The processing component 42 is used for the above Figure 1 The embodiment describes an intelligent image stabilization method for an unmanned intelligent turntable.

[0138] The processing component 42 may include one or more processors to execute computer instructions to complete all or part of the steps in the above-described method. Alternatively, the processing component may be implemented as one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the above-described method.

[0139] Storage component 41 is configured to store various types of data to support operations at the terminal. The storage component can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0140] Of course, computing devices may also include other components, such as input / output interfaces, display components, communication components, etc.

[0141] Input / output interfaces provide interfaces between processing components and peripheral interface modules, which can be output devices, input devices, etc.

[0142] The communication components are configured to facilitate wired or wireless communication between computing devices and other devices.

[0143] The computing device can be a physical device or an elastic computing host provided by a cloud computing platform. In this case, the computing device can refer to a cloud server, and the aforementioned processing components, storage components, etc., can be basic server resources rented or purchased from the cloud computing platform.

[0144] This application also provides a computer storage medium storing a computer program, which, when executed by a computer, can perform the above-described functions. Figure 1 An intelligent image stabilization method for an unmanned intelligent turntable is shown in the embodiment.

[0145] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0146] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0147] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0148] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. An intelligent image stabilization method for an unmanned intelligent turntable, characterized in that, include: Acquire electromagnetic interference data in the turntable's operating environment, update the turntable's interference feature library based on the electromagnetic interference data, and monitor the signal-to-noise ratio characteristics of the turntable's power components to generate notch filter parameters. Based on the notch filter parameters, the notch depth and bandwidth related to the turntable rotation jitter are adjusted, and the turntable nonlinear compensation and frequency domain adaptive equalization processing are triggered simultaneously. The abrupt change signal of the rotation key frame in the turntable image stream is identified and the compensation intensity is adjusted in combination with the signal-to-noise ratio characteristics to form an interference suppression closed-loop mechanism. During the operation of the interference suppression closed-loop mechanism, the high-frequency jitter features in the mutation signal are extracted by the inner loop control, and the high-frequency jitter features are fused with the turntable interference prediction data by the outer loop prediction to generate primary suppression parameters. The motion state analysis of the primary suppression parameters and electromagnetic interference data is performed to generate cross-domain suppression commands. The turntable anti-interference coding is executed based on the cross-domain suppression command, the turntable attitude-related coding scheme is configured according to the rotation suppression item in the cross-domain suppression command, the rotation scene error correction protocol is set hierarchically according to the electromagnetic suppression item in the cross-domain suppression command, and the coded data is verified by combining the turntable link feedback. The turntable environmental adaptation parameters output by the closed-loop verification are fed back to the interference feature library update and the compensation intensity adjustment process to achieve coordinated control of electromagnetic interference and mechanical jitter, so as to output a stable image stream.

2. The method according to claim 1, characterized in that, The step of feeding back the turntable environmental adaptation parameters output by the closed-loop verification to the interference feature library update and the compensation intensity adjustment process, to achieve coordinated control of electromagnetic interference and mechanical jitter, so as to output a stable image stream, includes: The position deviation report output by the closed-loop verification is converted into turntable environmental adaptation parameters that include offset angle, displacement amount and environmental interference level; The offset angle and displacement in the environmental adaptation parameters are added as new records to the interference feature library to update the interference feature library. At the same time, the displacement in the environmental adaptation parameters is input into the compensation regulator, and the correction value of the compensation intensity is output through the displacement intensity mapping table. By continuously updating the interference feature library and dynamically adjusting the compensation intensity, a dual-channel collaborative mechanism is formed, enabling the electromagnetic interference suppression subsystem and the mechanical jitter suppression subsystem to achieve control law linkage based on environmental adaptation parameters, and outputting a stable video stream that eliminates inter-frame mutations to the image processing terminal.

3. The method according to claim 2, characterized in that, The dual-channel collaborative mechanism, formed by continuous updating of the interference feature library and dynamic adjustment of compensation intensity, enables the electromagnetic interference suppression subsystem and the mechanical jitter suppression subsystem to achieve control law linkage based on environmental adaptation parameters, outputting a stable video stream that eliminates inter-frame mutations to the image processing terminal, including: The continuously updated interference feature library and the correction value of the compensation intensity are input into the cooperative controller to activate the dual-channel cooperative mechanism, and the environmental adaptation parameters are simultaneously input into the electromagnetic interference suppression subsystem and the mechanical vibration suppression subsystem. In the electromagnetic interference suppression subsystem, the lower limit of the filtering frequency is calculated based on the environmental interference level, and the lower limit of the filtering frequency is converted into the harmonic monitoring range of the mechanical jitter suppression subsystem. In the mechanical vibration suppression subsystem, a compensation intensity reference value is set according to the displacement, and the compensation intensity reference value is mapped to the amplitude attenuation threshold of the electromagnetic interference suppression subsystem. Based on the interaction between the electromagnetic interference suppression subsystem and the mechanical jitter suppression subsystem, image frame processing instructions are generated. When the offset of consecutive fixed frames is lower than a set threshold, a stable video stream is output to the terminal device.

4. The method according to claim 1, characterized in that, The process of executing turntable anti-interference coding based on the cross-domain suppression command, configuring a turntable attitude-related coding scheme according to the rotation suppression item in the cross-domain suppression command, setting a rotation scene error correction protocol hierarchically according to the electromagnetic suppression item in the cross-domain suppression command, and performing closed-loop verification of the coded data in conjunction with turntable link feedback includes: The rotation suppression term in the cross-domain suppression instruction is analyzed, and a turntable attitude-related coding scheme containing compensation displacement for each tilt angle interval is generated based on the jitter suppression coefficient and tilt angle association mapping table contained in the rotation suppression term. The electromagnetic suppression term in the cross-domain suppression instruction is analyzed, the rotation scene is divided according to the interference intensity level, and an error correction protocol including the data check bit length and error correction threshold is configured for each level of scene. By integrating the aforementioned turntable attitude-related coding scheme with the aforementioned error correction protocol, an anti-interference coded data packet is constructed and fed back to the turntable actuator via the turntable link; The system receives the position coordinates fed back by the turntable actuator, calculates the inter-frame deviation between the deviation values ​​and the expected position coordinates in the anti-interference coded data packet, and generates a closed-loop verification signal to trigger the reconstruction of the anti-interference coded data packet and outputs a position deviation report when the deviation values ​​of multiple consecutive frames exceed the set tolerance.

5. The method according to claim 1, characterized in that, During the operation of the interference suppression closed-loop mechanism, high-frequency jitter features in the abrupt signal are extracted through inner-loop control. These high-frequency jitter features are then fused with turntable interference prediction data using outer-loop prediction to generate primary suppression parameters. Motion state analysis is performed on the primary suppression parameters and electromagnetic interference data to generate cross-domain suppression commands, including: During the operation of the interference suppression closed-loop mechanism, high-frequency jitter features with a change rate exceeding a preset threshold are extracted from the abrupt signal by the inner loop control module. The high-frequency jitter characteristics are spatiotemporally fused with the turntable interference prediction data stored in the outer loop prediction module to generate primary suppression parameters that include frequency suppression coefficients and amplitude correction coefficients. The primary suppression parameters and electromagnetic interference data are subjected to motion trajectory analysis. By comparing the fluctuation patterns of the primary suppression parameters and electromagnetic interference data within the same time window, a cross-domain suppression command containing rotation suppression and electromagnetic suppression terms is generated.

6. The method according to claim 1, characterized in that, The notch depth and bandwidth related to turntable rotation jitter are adjusted according to the notch filter parameters, and turntable nonlinear compensation and frequency domain adaptive equalization processing are triggered simultaneously. Abrupt signals in rotation keyframes of the turntable image stream are identified and the compensation intensity is adjusted in conjunction with the signal-to-noise ratio characteristics to form an interference suppression closed-loop mechanism, including: The notch filter parameters are input into the adjustable filter to block the main frequency of the rotation jitter according to the center frequency value, attenuate the jitter harmonic amplitude according to the depth setting value, and cover the rotation jitter spectrum range according to the width setting value. The nonlinear compensation module is triggered synchronously to correct the image shift caused by rotation jitter, and the frequency domain adaptive equalization module is triggered to suppress the interference energy of rotation-related frequency bands; Scan and identify the turntable image stream, extract abrupt change signals in the rotation keyframes, and input the intensity vector of the abrupt change signals and the signal-to-noise ratio feature into the compensation regulator to adjust the compensation intensity; The compensation intensity is output to the nonlinear compensation module and a feedback signal is generated to the adjustable filter, forming an interference suppression closed-loop mechanism from image recognition to parameter adjustment.

7. The method according to claim 1, characterized in that, The steps include acquiring electromagnetic interference data in the turntable's operating environment, updating the turntable's interference feature library based on the electromagnetic interference data, and monitoring the signal-to-noise ratio characteristics of the turntable's power components to generate notch filter parameters, including: The electromagnetic sensors on the unmanned intelligent turntable collect raw electromagnetic field strength data in the turntable's operating environment and output electromagnetic interference data including peak intensity and fluctuation frequency. The electromagnetic interference data is compared with the interference patterns stored in the interference feature library. New entries are created for unrecorded interference patterns and added to the interference feature library. The updated interference feature library is then output. Simultaneously monitor the output signal of the turntable power component and generate a signal-to-noise ratio feature containing the effective signal ratio. When the signal-to-noise ratio feature is lower than the threshold, generate notch filter parameters containing the center frequency value, depth setting value and width setting value based on the updated interference feature library.

8. An intelligent image stabilization system for an unmanned intelligent turntable, characterized in that, include: The acquisition module is used to acquire electromagnetic interference data in the turntable's operating environment, update the turntable's interference feature library based on the electromagnetic interference data, and monitor the signal-to-noise ratio characteristics of the turntable's power components to generate notch filter parameters. The processing module is used to adjust the notch depth and bandwidth related to the turntable rotation jitter according to the notch filter parameters, synchronously trigger the turntable nonlinear compensation and frequency domain adaptive equalization processing, identify the abrupt signal of the rotation key frame in the turntable image stream and adjust the compensation intensity in combination with the signal-to-noise ratio characteristics to form an interference suppression closed-loop mechanism. The generation module is used to extract high-frequency jitter features from the mutation signal through inner loop control during the operation of the interference suppression closed-loop mechanism, use outer loop prediction to fuse the high-frequency jitter features with turntable interference prediction data to generate primary suppression parameters, and perform motion state analysis on the primary suppression parameters and electromagnetic interference data to generate cross-domain suppression commands. The execution module is used to execute turntable anti-interference coding based on the cross-domain suppression instruction, configure the turntable attitude-related coding scheme according to the rotation suppression item in the cross-domain suppression instruction, set the rotation scene error correction protocol in stages according to the electromagnetic suppression item in the cross-domain suppression instruction, and perform closed-loop verification of the coded data in combination with the turntable link feedback. The output module is used to feed back the turntable environmental adaptation parameters output by the closed-loop verification to the interference feature library update and the compensation intensity adjustment process, so as to realize the coordinated control of electromagnetic interference and mechanical vibration, and output a stable image stream.

9. A computing device, characterized in that, It includes a processing component and a storage component; the storage component stores one or more computer instructions; the one or more computer instructions are invoked and executed by the processing component to implement the intelligent image stabilization method for an unmanned intelligent turntable as described in any one of claims 1 to 7.

10. A computer storage medium, characterized in that, The device contains a computer program that, when executed by a computer, implements an intelligent image stabilization method for an unmanned intelligent turntable as described in any one of claims 1 to 7.

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