Unmanned aerial vehicle high-voltage environment electromagnetic interference multi-level protection method and system

Abstract

The invention provides an unmanned aerial vehicle high-voltage environment electromagnetic interference multi-level protection method and system, and belongs to the field of unmanned aerial vehicle anti-electromagnetic interference. Comprising the steps of collecting electromagnetic spectrum data, identifying an interference type and setting an initial anti-interference parameter; monitoring the electric field intensity in the flight process of the unmanned aerial vehicle, and dynamically adjusting an active anti-interference strategy according to the interference type; differential electromagnetic shielding and wave absorbing treatment is carried out on the unmanned aerial vehicle structure module; correcting the navigation positioning information by adopting a data fusion algorithm, and compensating the sensor data in real time based on a preset interference-error mapping model; key performance indexes of communication, positioning and sensor data are monitored in real time, and when the key performance indexes exceed a threshold value, an adjustment instruction is generated for feedback iteration, and closed-loop optimization is achieved. According to the invention, full-process collaborative protection from sensing, suppression, isolation to compensation is realized, and the communication reliability, positioning precision and data accuracy of the unmanned aerial vehicle in high-voltage strong electromagnetic environments such as a high-voltage transmission line and a transformer substation are improved.

Description

Technical Field

[0001] This invention belongs to the field of electromagnetic interference protection technology for unmanned aerial vehicles (UAVs), and particularly relates to a multi-level protection method and system for electromagnetic interference in high-voltage environments for UAVs. Background Technology

[0002] The statements in this section are merely background information related to the present invention and do not necessarily constitute prior art.

[0003] With the continuous advancement of smart grid construction and the rapid iteration of drone technology, drones, with their advantages of maneuverability, high operating efficiency, low maintenance costs and no personnel safety risks, have become the core operating equipment for the inspection of power facilities such as high-voltage transmission lines and substations, equipment status monitoring and precise fault location. Their application penetration and dependence in the field of power operation and maintenance continue to rise.

[0004] However, the electromagnetic environment in which high-voltage power facilities operate is extremely complex and harsh. High-voltage transmission lines generate corona discharge during operation; a large number of electrical devices in substations release harmonic radiation. This electromagnetic radiation can cause the electric field strength in the operating area to reach a strong interference level of 10-50 kV / m, posing multiple severe challenges to the safe and stable operation of unmanned aerial vehicle (UAV) systems.

[0005] First, strong electromagnetic interference will significantly increase the bit error rate of wireless communication between the UAV and the ground control station, resulting in delays in the transmission of remote control commands, packet loss of inspection data, and even frequent interruptions of communication links. This directly disrupts the issuance of operational commands and the transmission of field data, severely hindering the progress of inspection tasks.

[0006] Secondly, Global Navigation Satellite System (GNSS) signals are susceptible to interference in strong electromagnetic environments, leading to signal loss or drift. This, combined with measurement drift caused by electromagnetic coupling in the inertial measurement unit (IMU), causes the UAV's positioning error to increase exponentially. This not only fails to meet the position accuracy requirements for refined inspections but may also lead to safety accidents such as UAV collisions with high-voltage power lines or equipment. Furthermore, the sensitive internal electronic components of the UAV are prone to coupling errors due to electromagnetic interference, resulting in misjudgments. This directly affects maintenance personnel's assessment of the health status of power equipment and accurate identification of defects, creating potential power safety hazards.

[0007] Finally, electromagnetic interference can intrude into the UAV flight control computer and motor drive module through conduction or radiation, potentially triggering flight control logic disorder and motor output torque imbalance, causing the UAV to lose attitude control and deviate from its flight path. In extreme cases, it can lead to a crash, resulting in equipment damage and failure of maintenance tasks.

[0008] To address the aforementioned issues, existing electromagnetic protection technologies for drones mostly employ single protection methods, such as adding metal shielding covers to the entire drone or some components, or configuring filtering devices with fixed parameters in the circuitry. These solutions lack the ability to accurately identify the types of electromagnetic interference, failing to distinguish between different interference sources such as corona discharge and harmonic radiation, making targeted protection difficult. Furthermore, their static and fixed protection strategies cannot adapt to scenarios with dynamically changing electromagnetic field strength and spectral characteristics in high-voltage environments, and they do not provide differentiated protection designs for drone flight control, navigation, and sensor components with varying electromagnetic sensitivities, resulting in limited protection effectiveness. Summary of the Invention

[0009] To overcome the shortcomings of the prior art, this invention provides a multi-level protection method and system for UAVs in high-voltage environments with electromagnetic interference. By establishing a collaborative protection system of active sensing, dynamic suppression, passive isolation, intelligent compensation, and closed-loop optimization, the reliability of UAVs in strong electromagnetic environments is significantly improved.

[0010] To achieve the above objectives, one or more embodiments of the present invention provide the following technical solutions: The first aspect of this invention provides a multi-level protection method for electromagnetic interference in high-voltage environments for unmanned aerial vehicles (UAVs); A multi-level protection method for electromagnetic interference in high-voltage environments for unmanned aerial vehicles (UAVs) includes: Step S1: Use a broadband electromagnetic sensor to collect electromagnetic spectrum data of the work area, identify the type of interference, and set the corresponding initial anti-interference parameters; Step S2: Periodically monitor the electric field strength during the flight of the UAV. When the electric field strength fluctuation exceeds the set threshold, dynamically adjust the active anti-interference strategy according to the identified interference type. Step S3: Implement differentiated electromagnetic shielding and wave absorption treatment on the UAV's flight control unit, navigation module, and optical sensors, and ensure that all shielding bodies are properly grounded; Step S4: Use a data fusion algorithm to correct the interfered navigation and positioning information, and use a preset interference-error mapping model to compensate the sensor data affected by electromagnetic interference in real time. Step S5: Real-time monitoring of key performance indicators of communication, positioning and sensor data. If any indicator exceeds the preset threshold, an adjustment instruction is generated and fed back to step S2 or S4 to achieve closed-loop optimization of anti-disturbance parameters or compensation models.

[0011] As a further technical solution, the method utilizes a broadband electromagnetic sensor to collect electromagnetic spectrum data of the work area, identify interference types, and set corresponding initial anti-interference parameters, including: Electromagnetic environment data in the 1kHz to 1GHz frequency band is collected by a broadband electromagnetic sensor before the UAV takes off or enters the mission area. Spectrum analysis is performed based on fast Fourier transform to identify the dominant interference type as corona discharge interference or harmonic interference, and the corresponding initial anti-interference parameters are set according to the identification results.

[0012] As a further technical solution, the active anti-interference strategy includes: for corona discharge interference, using a notch filter with an adjustable center frequency and direct-sequence spread spectrum communication in coordination; for harmonic interference, using an adaptive filter and pseudo-random frequency hopping communication in coordination.

[0013] As a further technical solution, the differentiated electromagnetic shielding and wave absorption treatment applied to the UAV's flight control unit, navigation module, and optical sensors includes: The electromagnetic shielding of the flight control unit has a double-layer structure. The inner layer is made of permalloy with high magnetic permeability to suppress low-frequency magnetic field interference, and the outer layer is made of aluminum-magnesium alloy with high conductivity to suppress high-frequency electric field interference. Add ferrite absorbing material to the navigation module; Electromagnetic shielding for optical sensors includes coating the lens surface with an indium tin oxide transparent conductive film.

[0014] As a further technical solution, the data fusion algorithm is Kalman filtering, which fuses data from the Global Navigation Satellite System, the Inertial Measurement Unit, and the Visual Odometry, and dynamically adjusts the fusion weights of each data source according to the real-time positioning deviation of the Global Navigation Satellite System.

[0015] As a further technical solution, the preset model is an interference-error mapping model, which is trained based on a large number of sensor error samples collected under different electromagnetic intensities, and is used to predict and compensate for the deviation of the sensor output value according to the real-time electric field intensity.

[0016] The second aspect of this invention provides a multi-level protection system for electromagnetic interference in high-voltage environments for unmanned aerial vehicles (UAVs).

[0017] A multi-level electromagnetic interference protection system for unmanned aerial vehicles (UAVs) in high-voltage environments includes: The electromagnetic detection module is configured to: use a broadband electromagnetic sensor to collect electromagnetic spectrum data of the work area, identify the type of interference, and set the corresponding initial anti-interference parameters; The active anti-interference module is configured to periodically monitor the electric field strength during the flight of the UAV, and dynamically adjust the active anti-interference strategy according to the identified interference type when the electric field strength fluctuation exceeds the set threshold. The passive shielding module is configured to provide differentiated electromagnetic shielding and wave absorption for the UAV's flight control unit, navigation module, and optical sensors, and to ensure that all shielding elements are properly grounded. The dynamic compensation module is configured to: use a data fusion algorithm to correct the interfered navigation and positioning information, and use a preset interference-error mapping model to compensate the sensor data affected by electromagnetic interference in real time. The verification feedback module is configured to monitor key performance indicators of communication, positioning and sensor data in real time. If any indicator exceeds a preset threshold, an adjustment command is generated and fed back to the active anti-interference module or the dynamic compensation module to achieve closed-loop optimization of anti-interference parameters or compensation models.

[0018] A third aspect of the present invention provides a computer-readable storage medium having a program stored thereon, which, when executed by a processor, implements the steps of a multi-level protection method for electromagnetic interference in high-voltage environments for unmanned aerial vehicles as described in the first aspect of the present invention.

[0019] A fourth aspect of the present invention provides an electronic device, including a memory, a processor, and a program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of a multi-level protection method for electromagnetic interference in high-voltage environments for unmanned aerial vehicles as described in the first aspect of the present invention.

[0020] The fifth aspect of the present invention provides a computer program product, including a computer program / instruction, which, when executed by a processor, implements the steps in the above-described multi-level protection method for electromagnetic interference in high-voltage environments of unmanned aerial vehicles.

[0021] The above one or more technical solutions have the following beneficial effects: (1) This invention achieves closed-loop management of the entire process from interference identification and real-time suppression to post-event compensation in electromagnetic protection of UAVs, breaking through the limitations of traditional single shielding or fixed filtering, and forming a system-level, adaptive, and optimizable comprehensive protection system. Through real-time monitoring and spectrum analysis by broadband electromagnetic sensors, the system can automatically distinguish typical high-voltage interferences such as corona discharge and harmonics, and switch or adjust the corresponding filtering and communication anti-interference strategies in real time, possessing rapid response and adaptive capabilities to environmental changes. For key components such as flight control, navigation, and sensors, customized methods such as double-layer composite shielding, wave-absorbing material bonding, and transparent conductive coating are adopted to achieve precise protection and significantly improve local anti-interference capabilities under limited space and weight constraints.

[0022] (2) This invention fuses multi-source navigation information such as GNSS, IMU, and vision through Kalman filtering, and corrects sensor data in real time based on a trained interference-error mapping model, maintaining high-precision positioning and reliable data acquisition even under strong interference. By monitoring key indicators such as communication, positioning, and sensing in real time, the system can autonomously judge the protection effect and dynamically optimize the active anti-interference parameters or compensation model, realizing the self-iteration and long-term adaptability improvement of the protection strategy.

[0023] Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0024] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0025] Figure 1 This is a flowchart of the method in the first embodiment.

[0026] Figure 2 This is a system structure diagram of the second embodiment. Detailed Implementation

[0027] It should be noted that the following detailed descriptions are exemplary and intended to provide further illustration of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0028] It should be noted that the terminology used herein is for the purpose of describing particular implementations only and is not intended to limit the exemplary implementations of the present invention.

[0029] Where there is no conflict, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0030] Example 1 This embodiment discloses a multi-level protection method for unmanned aerial vehicles (UAVs) in high-voltage environments against electromagnetic interference. It utilizes a broadband electromagnetic sensor to identify interference types in real time and adaptively adjusts active anti-interference strategies based on the interference type. Differential shielding and absorption treatments are implemented for key UAV components. A multi-source data fusion algorithm and an interference-error mapping model are used to compensate for navigation, positioning, and sensor data in real time. Closed-loop optimization is achieved through performance monitoring and feedback mechanisms. This significantly improves the communication reliability, positioning accuracy, and data accuracy of UAVs in high-voltage, strong electromagnetic environments, making it suitable for inspection operations in scenarios such as high-voltage transmission lines and substations.

[0031] Specifically, such as Figure 1 As shown, a multi-level protection method for electromagnetic interference in high-voltage environments for unmanned aerial vehicles (UAVs) includes: Step S1: Use a broadband electromagnetic sensor to collect electromagnetic spectrum data of the work area, identify the type of interference, and set the corresponding initial anti-interference parameters.

[0032] Before the drone begins operation, hover it in a safe airspace at the edge of the work area, activate the wideband electromagnetic sensor, and start electromagnetic data acquisition across the entire frequency band from 1kHz to 1GHz. Set the sampling frequency to 2MHz, with a single acquisition duration of 5 seconds, and continuously acquire 3 sets of data to ensure baseline stability.

[0033] After data acquisition, a Fast Fourier Transform (FFT) is performed on the raw data to analyze the energy proportion of each frequency band. If the energy proportion in the 300kHz to 30MHz band exceeds 60%, it is identified as corona discharge interference. Initial anti-interference parameters corresponding to corona discharge interference are then set. Specifically, a notch filter is used for the corona discharge interference filtering system. The initial center frequency can be set between 300kHz and 30MHz. The initial spreading rate related to direct-sequence spread spectrum communication is set to 1Mbps. The initial spreading code length can be selected as a fixed code pattern suitable for high-voltage environments. The initial signal modulation method is also set. If the energy proportion in the 50Hz to 2kHz band exceeds 50%, it is identified as harmonic interference. Initial anti-interference parameters corresponding to harmonic interference are set. An adaptive filter with a fixed low initial filter order is used to suppress interference. The initial reference signal acquisition frequency band is locked between 50Hz and 2kHz, and the initial filter convergence step size is set.

[0034] Step S2: Periodically monitor the electric field strength during the flight of the UAV. When the electric field strength fluctuation exceeds the set threshold, dynamically adjust the active anti-interference strategy according to the identified interference type.

[0035] After the UAV enters the high-voltage operation area, it initiates an active anti-interference real-time dynamic control process, controlling the broadband electromagnetic sensor to continuously collect electromagnetic data in the 1kHz-1GHz frequency band with a fixed period of 100ms, and simultaneously monitor the changes in the spatial electric field intensity.

[0036] The real-time acquired electric field strength is compared with a reference value. When the difference in electric field strength fluctuation exceeds a preset threshold, a dynamic adjustment mechanism for the active anti-interference strategy is triggered, and a corresponding solution is executed based on the previously identified interference type. Specifically, for corona discharge interference, a notch filter with an adjustable center frequency and direct-sequence spread spectrum communication work together, including: At the filtering level, the notch filter first locks onto the dominant frequency band of corona discharge interference in the 300kHz-30MHz range, initially setting a filtering bandwidth of 30MHz and a center frequency of 10MHz. When the drone flies close to the high-voltage power line and causes the electric field strength fluctuation to exceed the threshold, it automatically expands the filtering bandwidth to accurately filter out electromagnetic noise in this frequency band and reduce direct interference to communication signals.

[0037] At the communication level, direct-sequence spread spectrum communication is activated simultaneously, with an initial spread spectrum rate of 1 Mbps. This rate is increased to 5 Mbps when interference intensifies, improving anti-interference capabilities and reducing the bit error rate by expanding the signal spectrum width. When the two work together, the filter first attenuates the interference, and then the spread spectrum communication further ensures the stable transmission of remote control commands and inspection data. Simultaneously, in conjunction with closed-loop system monitoring, if the communication signal-to-noise ratio falls below a threshold, the filtering and spread spectrum parameters are adjusted in real time to ensure uninterrupted communication links under high-voltage conditions.

[0038] To address harmonic interference, an adaptive filter and pseudo-random frequency hopping communication work together. Specifically: The adaptive filter first locks onto the dominant harmonic interference frequency band of 50Hz-2kHz, initially set as an 8th-order low-order filter, and acquires reference signals in this frequency band with a fixed convergence step size. When the electric field intensity fluctuation exceeds the threshold, the filter automatically adjusts its order and convergence rate, dynamically tracks the harmonic frequency changes, accurately cancels harmonic noise generated by the line or equipment, and reduces conducted interference to communication signals.

[0039] At the communication level, pseudo-random frequency hopping communication is enabled simultaneously. An initial frequency hopping rate is set, and the frequency hopping points cover the communication intervals surrounding the harmonic frequency band. The frequency hopping sequence is generated according to a preset pseudo-random rule. When the two work together, the filter first attenuates harmonic interference, and then the frequency hopping communication avoids residual interference by randomly switching frequencies, reducing the probability of signal interception or interference. If the communication interruption rate exceeds 0.1%, the system will provide feedback to adjust the filter parameters and frequency hopping rate, forming a closed-loop protection to ensure the reliable transmission of operation and maintenance commands and data.

[0040] Step S3: Implement differentiated electromagnetic shielding and wave absorption treatment on the UAV's flight control unit, navigation module, and optical sensors, and ensure that all shielding bodies are properly grounded.

[0041] Specifically, the electromagnetic shielding of the flight control unit has a double-layer structure. The inner layer is made of permalloy with high magnetic permeability, which is attached to the outer shell of the flight control circuit board to suppress low-frequency harmonic magnetic field interference. The outer layer is nested with a thick aluminum-magnesium alloy shield, which attenuates the high-frequency electric field of corona discharge through high conductivity.

[0042] The navigation module is equipped with ferrite absorbing material to cover key signal areas, absorb electromagnetic clutter coupled in space, reduce phase shift and noise superposition of navigation signals, and ensure the original accuracy of positioning data.

[0043] For optical sensors of drones, such as infrared thermal imagers and visible light cameras, a thick indium tin oxide transparent conductive film is deposited on the lens surface using magnetron sputtering. This film forms a conductive shielding layer without affecting the light transmittance, blocking the coupling effect of electromagnetic interference on the photosensitive element and avoiding image stripe distortion.

[0044] Step S4: Use a data fusion algorithm to correct the interfered navigation and positioning information, and use a preset interference-error mapping model to compensate the sensor data affected by electromagnetic interference in real time.

[0045] The data fusion algorithm is Kalman filtering, which fuses data from the Global Navigation Satellite System (GNSS), Inertial Measurement Unit (INS), and Visual Odometry (VAU). It dynamically adjusts the fusion weights of each data source based on real-time GNSS positioning deviations. Specifically: Define the UAV state vector :

[0046] in, For three-dimensional position; denoted as 3D velocity; T represents transpose.

[0047] Establish the state equations:

[0048] in, Here is the state transition matrix. For process noise, its covariance matrix It will dynamically adjust based on the real-time positioning deviation of the Global Navigation Satellite System (GNSS). When the GNSS deviation increases due to electromagnetic interference, The weighting coefficients of the corresponding inertial measurement units (IMUs) will be increased.

[0049] Then the observation equations were constructed. :

[0050] in, For the observation matrix, To mitigate observation noise, the weighting is dynamically allocated based on the data source. When there is no GNSS interference, the GNSS weight is low; when interference causes the GNSS to lose lock, the observation weights of the visual odometry and IMU are increased. Furthermore, filtering is iteratively corrected through time updates and measurement updates. Specifically: the time update is as follows:

[0051]

[0052] Measurement updates are performed by calculating the Kalman gain.

[0053] The final corrected state is:

[0054]

[0055] Finally, dynamic weight adaptation is performed. When the GNSS positioning deviation exceeds the threshold, the system automatically adjusts. The proportion of each data source in the middle is increased, the weight of visual odometry is improved, and the... The process noise figure of the IMU is reduced to ensure that the fusion results rely primarily on the IMU and visual data, which have stronger resistance to electromagnetic interference, so as to keep the positioning error within the threshold in a strong electromagnetic environment.

[0056] Furthermore, for sensor data affected by electromagnetic interference, real-time compensation is achieved by constructing an interference-error mapping model. This model is trained based on a large number of sensor error samples collected under different electromagnetic intensities and is used to predict and compensate for deviations in the sensor output values ​​based on the real-time electric field strength. Specifically: First, collect sensor output values ​​under different electric field intensities. Compared with the true value Calculate error samples And form a dataset.

[0057] The basic mapping relationship is constructed using linear regression, and the model expression is as follows: ,in Let be the electromagnetic intensity-error sensitivity coefficient, and b be the basic error offset. Parameters are fitted using the least squares method:

[0058]

[0059] If the error is nonlinear, it can be extended to a polynomial model to improve the fitting accuracy.

[0060] During drone operations, the electric field strength is collected, substituted into the model to obtain the prediction error, and then the sensor output is compensated in real time. The final correction value is:

[0061] in, This is the final revised value; To output values ​​in real time; This represents the prediction error.

[0062] Based on the error monitoring data from the verification feedback module, if the actual compensation error... If the error exceeds the 3% threshold, the model parameters are iteratively updated using the gradient descent method to achieve adaptive calibration of the model in complex electromagnetic environments, ensuring the accuracy of sensor data.

[0063] Step S5: Real-time monitoring of key performance indicators of communication, positioning and sensor data. If any indicator exceeds the preset threshold, an adjustment instruction is generated and fed back to step S2 or S4 to achieve closed-loop optimization of anti-disturbance parameters or compensation models.

[0064] The bit error rate detector collects the data packet reception status of the wireless communication link at specific intervals, and calculates the proportion of communication interruption time in real time. The preset communication interruption rate threshold is 0.1%. At the same time, the signal-to-noise ratio is monitored, and the lower limit of the signal-to-noise ratio is set at 15dB. If it is lower than this value, the communication link is considered to be unstable.

[0065] Regarding positioning performance, the real-time positioning error is calculated by comparing the positioning data after Kalman filtering fusion with the preset reference coordinates. The preset positioning error threshold is 5cm. Once the single error exceeds the threshold or the average value of three consecutive cycles exceeds the threshold, a positioning anomaly warning is triggered.

[0066] For infrared temperature measurement data, compare it with the historical reference temperature of the same area and set the temperature measurement data error threshold to 3%; for visible light images, detect the degree of image distortion and preset the image distortion rate threshold to 5%, and simultaneously monitor the sampling stability and data jump amplitude of sensor data.

[0067] By comparing real-time collected indicator data with preset thresholds, if any indicator exceeds the threshold, an instruction generation mechanism is immediately activated and fed back to the corresponding step. Specifically: If the communication interruption rate or signal-to-noise ratio exceeds the set threshold, the active anti-interference strategy is deemed to have failed. An anti-interference parameter adjustment instruction is then generated and fed back to step S2. The instruction includes the filter bandwidth expansion range and communication mode switching instructions. For example, during the inspection of a 500kV transmission line, when a fly-by conductor causes a sudden drop in the communication signal-to-noise ratio, the instruction will require the active anti-interference module to expand the notch filter bandwidth from 30MHz to 50MHz and increase the spread spectrum rate from 1Mbps to 5Mbps.

[0068] If the positioning error consistently exceeds 5cm or the sensor data error exceeds 3%, the compensation model is deemed to be inaccurate. An optimization instruction for compensation parameters is generated and fed back to step S4. This instruction includes adjustment coefficients for the noise covariance matrix of the Kalman filter process and correction values ​​for the compensation coefficients of the interference-error mapping model. For example, during substation inspection, if harmonic interference causes an image distortion rate of 6%, the instruction will require the dynamic compensation module to increase the edge compensation weights of the image enhancement algorithm while simultaneously optimizing the harmonic interference error coefficients of the mapping model. Through this process, closed-loop optimization of the anti-interference parameters or compensation model is achieved, significantly improving the communication reliability, positioning accuracy, and data accuracy of the UAV in high-voltage, strong electromagnetic environments.

[0069] Example 2 This embodiment discloses a multi-level protection system for electromagnetic interference in high-voltage environments for unmanned aerial vehicles (UAVs). like Figure 2 As shown, a multi-level electromagnetic interference protection system for unmanned aerial vehicles (UAVs) in high-voltage environments includes: The electromagnetic detection module is configured to: use a broadband electromagnetic sensor to collect electromagnetic spectrum data of the work area, identify the type of interference, and set the corresponding initial anti-interference parameters; The active anti-interference module is configured to periodically monitor the electric field strength during the flight of the UAV, and dynamically adjust the active anti-interference strategy according to the identified interference type when the electric field strength fluctuation exceeds the set threshold. The passive shielding module is configured to provide differentiated electromagnetic shielding and wave absorption for the UAV's flight control unit, navigation module, and optical sensors, and to ensure that all shielding elements are properly grounded. The dynamic compensation module is configured to: use a data fusion algorithm to correct the interfered navigation and positioning information, and use a preset interference-error mapping model to compensate the sensor data affected by electromagnetic interference in real time. The verification feedback module is configured to monitor key performance indicators of communication, positioning and sensor data in real time. If any indicator exceeds a preset threshold, an adjustment command is generated and fed back to the active anti-interference module or the dynamic compensation module to achieve closed-loop optimization of anti-interference parameters or compensation models.

[0070] Example 3 The purpose of this embodiment is to provide a computer-readable storage medium.

[0071] A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of a multi-level protection method for electromagnetic interference in high-voltage environments for unmanned aerial vehicles as described in Example 1.

[0072] Example 4 The purpose of this embodiment is to provide an electronic device.

[0073] An electronic device includes a memory, a processor, and a program stored in the memory and executable on the processor. When the processor executes the program, it implements the steps in a multi-level protection method for electromagnetic interference in a high-voltage environment for unmanned aerial vehicles as described in Embodiment 1.

[0074] Example 5 Embodiment 5 of the present invention provides a computer program product, including a computer program / instruction, which, when executed by a processor, implements the steps in the multi-level protection method for electromagnetic interference in high-voltage environments of unmanned aerial vehicles as described in Embodiment 1.

[0075] The steps and methods involved in the apparatuses of Embodiments 2, 3, 4, and 5 above correspond to those in Embodiment 1. For specific implementation details, please refer to the relevant description section of Embodiment 1. The term "computer-readable storage medium" should be understood as a single medium or multiple media including one or more instruction sets; it should also be understood as including any medium capable of storing, encoding, or carrying an instruction set for execution by a processor and enabling the processor to perform any of the methods in this invention.

[0076] Those skilled in the art will understand that the modules or steps of the present invention described above can be implemented using general-purpose computer devices. Optionally, they can be implemented using computer-executable program code, thereby allowing them to be stored in a storage device for execution by a computer device, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. The present invention is not limited to any particular combination of hardware and software.

[0077] While the specific embodiments of the present invention have been described above in conjunction with the accompanying drawings, this is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without creative effort based on the technical solutions of the present invention are still within the scope of protection of the present invention.

Claims

1. A multi-level protection method for electromagnetic interference in high-voltage environments for unmanned aerial vehicles (UAVs), characterized in that, include: Step S1: Use a broadband electromagnetic sensor to collect electromagnetic spectrum data of the work area, identify the type of interference, and set the corresponding initial anti-interference parameters; Step S2: Periodically monitor the electric field strength during the flight of the UAV. When the electric field strength fluctuation exceeds the set threshold, dynamically adjust the active anti-interference strategy according to the identified interference type. Step S3: Implement differentiated electromagnetic shielding and wave absorption treatment on the UAV's flight control unit, navigation module, and optical sensors, and ensure that all shielding bodies are properly grounded; Step S4: Use a data fusion algorithm to correct the interfered navigation and positioning information, and use a preset interference-error mapping model to compensate the sensor data affected by electromagnetic interference in real time. Step S5: Real-time monitoring of key performance indicators of communication, positioning and sensor data. If any indicator exceeds the preset threshold, an adjustment instruction is generated and fed back to step S2 or S4 to achieve closed-loop optimization of anti-disturbance parameters or compensation models.

2. The multi-level protection method for electromagnetic interference in high-voltage environments for unmanned aerial vehicles (UAVs) as described in claim 1, characterized in that, The process of using a broadband electromagnetic sensor to collect electromagnetic spectrum data of the work area, identify interference types, and set corresponding initial anti-interference parameters includes: Electromagnetic environment data in the 1kHz to 1GHz frequency band is collected by a broadband electromagnetic sensor before the UAV takes off or enters the mission area. Spectrum analysis is performed based on fast Fourier transform to identify the dominant interference type as corona discharge interference or harmonic interference, and the corresponding initial anti-interference parameters are set according to the identification results.

3. The multi-level protection method for electromagnetic interference in high-voltage environments for unmanned aerial vehicles (UAVs) as described in claim 1, characterized in that, The active anti-interference strategy includes: for corona discharge interference, a notch filter with adjustable center frequency is used in conjunction with direct-sequence spread spectrum communication; for harmonic interference, an adaptive filter is used in conjunction with pseudo-random frequency hopping communication.

4. A multi-level protection method for electromagnetic interference in high-voltage environments for unmanned aerial vehicles (UAVs) as described in claim 1, characterized in that, The differentiated electromagnetic shielding and wave absorption treatment applied to the flight control unit, navigation module, and optical sensors of the UAV includes: The electromagnetic shielding of the flight control unit has a double-layer structure. The inner layer is made of permalloy with high magnetic permeability to suppress low-frequency magnetic field interference, and the outer layer is made of aluminum-magnesium alloy with high conductivity to suppress high-frequency electric field interference. Add ferrite absorbing material to the navigation module; Electromagnetic shielding for optical sensors includes coating the lens surface with an indium tin oxide transparent conductive film.

5. A multi-level protection method for electromagnetic interference in high-voltage environments for unmanned aerial vehicles (UAVs) as described in claim 1, characterized in that, The data fusion algorithm is a Kalman filter, which fuses data from the Global Navigation Satellite System, Inertial Measurement Unit, and Visual Odometry, and dynamically adjusts the fusion weights of each data source based on the real-time positioning deviation of the Global Navigation Satellite System.

6. A multi-level protection method for electromagnetic interference in high-voltage environments for unmanned aerial vehicles (UAVs) as described in claim 1, characterized in that, The interference-error mapping model is trained based on a large number of sensor error samples collected under different electromagnetic intensities, and is used to predict and compensate for the deviation of the sensor output value according to the real-time electric field strength.

7. A multi-level protection system for electromagnetic interference in high-voltage environments for unmanned aerial vehicles (UAVs), characterized in that, include: The electromagnetic detection module is configured to: use a broadband electromagnetic sensor to collect electromagnetic spectrum data of the work area, identify the type of interference, and set the corresponding initial anti-interference parameters; The active anti-interference module is configured to periodically monitor the electric field strength during the flight of the UAV, and dynamically adjust the active anti-interference strategy according to the identified interference type when the electric field strength fluctuation exceeds the set threshold. The passive shielding module is configured to provide differentiated electromagnetic shielding and wave absorption for the UAV's flight control unit, navigation module, and optical sensors, and to ensure that all shielding elements are properly grounded. The dynamic compensation module is configured to: use a data fusion algorithm to correct the interfered navigation and positioning information, and use a preset interference-error mapping model to compensate the sensor data affected by electromagnetic interference in real time. The verification feedback module is configured to monitor key performance indicators of communication, positioning and sensor data in real time. If any indicator exceeds a preset threshold, an adjustment command is generated and fed back to the active anti-interference module or the dynamic compensation module to achieve closed-loop optimization of anti-interference parameters or compensation models.

8. A multi-level electromagnetic interference protection system for UAVs in high-voltage environments as described in claim 7, characterized in that, include: The process of using a broadband electromagnetic sensor to collect electromagnetic spectrum data of the work area, identify interference types, and set corresponding initial anti-interference parameters includes: Electromagnetic environment data in the 1kHz to 1GHz frequency band is collected by a broadband electromagnetic sensor before the UAV takes off or enters the mission area. Spectrum analysis is performed based on fast Fourier transform to identify the dominant interference type as corona discharge interference or harmonic interference, and the corresponding initial anti-interference parameters are set according to the identification results.

9. A multi-level electromagnetic interference protection system for UAVs in high-voltage environments as described in claim 7, characterized in that, The active anti-interference strategy includes: for corona discharge interference, a notch filter with adjustable center frequency is used in conjunction with direct-sequence spread spectrum communication; for harmonic interference, an adaptive filter is used in conjunction with pseudo-random frequency hopping communication.

10. A multi-level protection system for electromagnetic interference in high-voltage environments for unmanned aerial vehicles as described in claim 7, characterized in that, The differentiated electromagnetic shielding and wave absorption treatment applied to the flight control unit, navigation module, and optical sensors of the UAV includes: The electromagnetic shielding of the flight control unit has a double-layer structure. The inner layer is made of permalloy with high magnetic permeability to suppress low-frequency magnetic field interference, and the outer layer is made of aluminum-magnesium alloy with high conductivity to suppress high-frequency electric field interference. Add ferrite absorbing material to the navigation module; Electromagnetic shielding for optical sensors includes coating the lens surface with an indium tin oxide transparent conductive film.

11. A multi-level electromagnetic interference protection system for UAVs in high-voltage environments as described in claim 7, characterized in that, The data fusion algorithm is a Kalman filter, which fuses data from the Global Navigation Satellite System, Inertial Measurement Unit, and Visual Odometry, and dynamically adjusts the fusion weights of each data source based on the real-time positioning deviation of the Global Navigation Satellite System.

12. A multi-level electromagnetic interference protection system for UAVs in high-voltage environments as described in claim 7, characterized in that, The interference-error mapping model is trained based on a large number of sensor error samples collected under different electromagnetic intensities, and is used to predict and compensate for the deviation of the sensor output value according to the real-time electric field strength.

13. A computer-readable storage medium having a program stored thereon, characterized in that, When executed by the processor, the program implements the steps of the multi-level protection method for electromagnetic interference in high-voltage environments for unmanned aerial vehicles as described in any one of claims 1-6.

14. An electronic device comprising a memory, a processor, and a program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the steps in the multi-level protection method for electromagnetic interference in high-voltage environments for unmanned aerial vehicles as described in any one of claims 1-6.

15. A computer program product comprising a computer program / instructions that, when executed by a processor, implement the steps of a multi-level protection method for electromagnetic interference in high-voltage environments for unmanned aerial vehicles as described in any one of claims 1-6.

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