Electromagnetic safety design method for man-machine collaborative rescue system facing extreme environment

Abstract

The invention discloses an electromagnetic safety design method for a man-machine cooperative rescue system facing an extreme environment, belongs to the technical field of artificial intelligence, and aims to solve the complex electromagnetic compatibility challenge faced during cooperative operation of various types of manned and unmanned rescue equipment in severe environments such as severe cold snow mountains and the like. The method is characterized in that an electromagnetic safety reference framework is constructed and adaptively adjusted before a task, the environment is continuously sensed in the task, a communication strategy and equipment parameters are dynamically adjusted, electromagnetic conflicts are actively predicted and avoided during close-range collaborative operation of equipment, and finally safety auditing and knowledge base updating are completed after the task, so that closed-loop management is formed. According to the method, the limitation of static configuration in the prior art is effectively overcome, and the overall robustness, the communication reliability and the task execution success rate of the rescue system in an extremely complex electromagnetic environment can be remarkably improved.

Description

Technical Field

[0001] This invention discloses an electromagnetic safety design method for a human-machine collaborative rescue system for extreme environments, belonging to the field of artificial intelligence technology. Background Technology

[0002] In rescue operations in harsh natural environments such as frigid snow-capped mountains, human-machine collaborative systems can significantly improve the efficiency and scope of search and rescue by integrating manned rescue terminals with various unmanned rescue devices. However, such environments are often accompanied by unique and complex electromagnetic conditions, such as the impact of low temperatures on the performance of electronic devices, signal propagation anomalies caused by complex terrain, and the potential presence of unknown civilian or natural electromagnetic interference sources. These factors make it highly susceptible to serious electromagnetic compatibility problems between various electronic devices within the rescue system and between the system and the external environment, which may lead to communication interruptions, sensor failures, or even equipment malfunctions, directly threatening the success of the rescue mission and the safety of personnel and equipment.

[0003] Existing electromagnetic safety designs for rescue equipment primarily focus on the internal shielding of individual devices or static planning of fixed frequency bands, lacking system-level electromagnetic safety management methods for dynamic networking and multi-device collaborative scenarios. Before a mission, they typically rely on the equipment's general factory settings or simple manual configuration, failing to pre-assess and adapt to the electromagnetic interference risks under specific mission areas and equipment combinations. During missions, they also lack the ability to continuously perceive, diagnose in real time, and automatically adjust system strategies to address the rapidly changing actual electromagnetic environment, making it difficult to effectively respond to sudden interference or electromagnetic conflicts caused by close-range collaboration between devices.

[0004] Therefore, there is an urgent need for an electromagnetic safety engineering method specifically designed for dynamic human-machine collaborative rescue systems in extreme environments. This method needs to be able to achieve closed-loop management of electromagnetic safety throughout the entire mission lifecycle from a system-level perspective. This includes pre-mission system compatibility prediction and configuration, dynamic environmental perception and strategy adaptation during the mission, proactive conflict avoidance during equipment collaboration, and post-mission experience learning and knowledge base evolution, thereby ensuring the reliable, stable, and safe operation of complex rescue systems in harsh electromagnetic environments. Summary of the Invention

[0005] According to a first aspect of the present invention, the present invention claims protection for an electromagnetic safety design method for a human-machine collaborative rescue system for extreme environments, applied to a rescue system comprising a manned rescue terminal, an unmanned rescue device, and a collaborative control center, the method being executed by the collaborative control center and comprising the following steps: S1. Construct an electromagnetic safety benchmark framework for rescue missions. Based on a predefined database of typical electromagnetic environment characteristics of rescue mission types and mission areas in frigid snow mountain environments, match and initialize the electromagnetic safety benchmark framework for the current rescue mission. S2. Perform electromagnetic compatibility verification of rescue equipment upon entry, sequentially activate potential electromagnetic interference sources and monitor the communication quality indicators of all other devices in the system and the status of self-reported electromagnetically sensitive components, generate electromagnetic feature identifiers, and make initial adaptive adjustments to the transmission power baseline or shielding level of relevant devices to form an initial electromagnetic safety configuration set specific to the mission. S3. Using the spectrum sensing modules built into each unmanned rescue device and manned rescue terminal, perform wideband scanning and recording of the background electromagnetic noise level in the mission area, and monitor the signal-to-noise ratio and bit error rate of the communication links between each device in real time to determine whether an abnormal electromagnetic environment has occurred and retrieve matching response strategies from the pre-set response strategy library. S4. When it is detected that at least two unmanned rescue devices need to enter a preset close-range collaborative operation mode, based on the task-specific initial electromagnetic safety configuration set and the electromagnetic feature identifier, predict the mutual electromagnetic interference risk that may be generated during collaborative operation due to simultaneous signal transmission or start-up of work load. Based on the predicted risk, generate a temporary collaborative operation electromagnetic protocol for the group of devices that are about to enter the collaborative operation mode. S5. After the rescue mission is completed in stages or in its entirety, collect data to evaluate the effectiveness of the electromagnetic safety configurations that actually took effect in this mission. Based on the evaluation results, conduct a post-mission electromagnetic safety audit and knowledge base update, and archive the electromagnetic feature identifiers generated in this mission and the mission-specific initial electromagnetic safety configuration set into the historical case library.

[0006] Furthermore, the method also includes: The electromagnetic safety benchmark framework defines the primary communication frequency band, backup communication frequency band, maximum permissible transmit power baseline, required receive sensitivity threshold, and default shielding level of key electromagnetically sensitive components within the equipment between the manned rescue terminal and each unmanned rescue device, and between each unmanned rescue device and each other, under different mission phases. The strategies in the response strategy library include at least: enabling the backup communication frequency band, instructing relevant equipment to make power adaptive adjustments within the maximum transmission power baseline range, and upgrading the specified shielding level of specific vulnerable equipment; The collaborative operation electromagnetic protocol specifies at least the time-sharing transmission sequence of each device during collaborative operation, the temporary power limit not exceeding its individual maximum transmission power baseline, and the specific frequency band signal suppression function that must be enabled during non-transmission periods; during collaborative operation, the relevant devices are forced to execute the protocol.

[0007] Furthermore, the method further includes the following in step S1: S101. Parse the metadata of the current rescue mission. The metadata includes at least the geographical coordinate range of the mission, the expected altitude range of the mission, the type of the core target of the mission, and the type and quantity of equipment to be deployed. S102. Based on the geographical coordinate range of the mission and the expected altitude range of the mission, retrieve the matching background electromagnetic spectrum profile of the region under severe cold conditions from the typical electromagnetic environment feature library, which is obtained by statistical analysis of historical data. S103. Based on the core target type of the task and the expected type of equipment to be deployed, determine the core functional modules that each device participating in the task needs to activate at each stage of the task and their corresponding typical operating frequency bands and power consumption modes from the predefined device-task mapping relationship. S104. Combining the retrieved background electromagnetic spectrum profile with the typical operating frequency bands of each device, and based on the principle of avoiding the main operating frequency band from entering the potentially unknown high-frequency band or high-intensity civilian communication frequency band intensity area, a frequency band optimization algorithm is used to allocate appropriate main communication frequency bands and backup communication frequency bands to each communication link. S105. Based on the noise floor level of the background electromagnetic spectrum profile in the main communication frequency band, the performance parameters of the device communication module, and the signal-to-noise ratio margin required to ensure basic communication quality, calculate and set the maximum allowable transmit power baseline and the necessary receive sensitivity threshold for each device on the corresponding link. S106. Based on the core functional modules that each device needs to activate in the mission and their electromagnetic susceptibility levels, and combined with the overall intensity of the background electromagnetic spectrum profile, set the default shielding level of the key electromagnetically sensitive components in each device. The shielding level is related to the range of external field strength to be suppressed.

[0008] Furthermore, step S3 of the method also includes: S301. The collaborative control center sends a synchronous spectrum scanning command to all online unmanned rescue equipment and manned rescue terminals at a fixed time period T, specifying the frequency band range to be scanned in the command. S302. After receiving the instruction, each device, during its non-critical business communication intervals, calls its built-in spectrum sensing module to quickly scan the specified frequency band, obtains the instantaneous signal strength values ​​of each discrete frequency point or narrowband frequency band, and packages the scan results and sends them back to the collaborative control center. S303. The collaborative control center summarizes the scanning results of all devices, performs spatial fusion processing on the scanning data that overlaps in the same geographical area, and generates a fused electromagnetic environment snapshot of the current task area within the time period T. S304. The fused electromagnetic environment snapshot generated in the current period is compared with the expected electromagnetic environment baseline of the region generated based on historical data or the typical electromagnetic environment feature library to identify abnormal frequency band regions where the signal strength exceeds the expected baseline threshold, and the duration of the occurrence of the abnormal frequency band region is timed. S305. While generating an environmental snapshot, collect in parallel the real-time communication performance data reported by each device between itself and the communication peer. The communication performance data includes at least the current signal-to-noise ratio, bit error rate, and link round-trip time. Set corresponding performance degradation alarm thresholds according to the type of communication link and the priority of the carried services. S306. When preset conditions are met simultaneously, an abnormal electromagnetic environment determination is triggered, and the frequency domain distribution characteristics of the abnormal environment are analyzed to obtain the interference type determination result and intensity level. S307. Based on the interference type determination result and intensity level, query the response strategy library and execute the corresponding strategy; S308. After executing any response strategy, start the effect monitoring period. During this period, increase the monitoring frequency of relevant frequency bands and links. If the abnormal state is eliminated or the communication performance is restored after the strategy is executed, record the strategy as an effective response measure for this abnormal event. If the strategy is ineffective, try the combination strategy in the strategy library or start the manual intervention process according to the preset upgrade process.

[0009] Furthermore, step S4 of the method also includes: S401. When it is determined through task planning or real-time instructions that at least two unmanned rescue devices need to enter the close-range collaborative operation mode, obtain real-time or estimated collaborative operation location information and calculate the expected distance between the devices. S402. Retrieve the electromagnetic feature identifiers generated by the relevant devices, and construct a prediction matrix for potential mutual interference between multiple devices based on the expected spacing, the radiation field strength attenuation model of each device, and the tolerance threshold. S403. Analyze the potential mutual interference prediction matrix, identify equipment pairs with excessive interference risk and corresponding risk frequency bands, and plan conflict mitigation measures according to the risk type. S404. Generate the temporary collaborative operation electromagnetic protocol according to the planned conflict resolution measures; S405. Before the equipment group enters the collaborative operation area, the temporary collaborative operation electromagnetic protocol is sent to each relevant equipment. After receiving the protocol, each equipment configures a temporary communication strategy and power strategy in its control module and returns a confirmation ready signal. S406. During collaborative operation, the collaborative control center monitors whether each device follows the timing specified in the protocol to transmit, and samples and checks its actual transmission power. S407. If, during collaborative operation, a device requests an adjustment to its behavior due to task requirements, it applies to the collaborative control center for protocol adjustment through the low-speed command link. The collaborative control center then assesses the impact of the adjustment on electromagnetic compatibility. S408. When the collaborative operation mode ends, the equipment group is disbanded or the spacing is increased to a safe range, the collaborative control center sends an instruction to release the temporary protocol executed by each device and restore the general configuration corresponding to the initial electromagnetic safety configuration set specific to the task.

[0010] Further, in step S2, guiding each unmanned rescue device and manned rescue terminal to operate in a specified low-power verification mode includes: Each device is controlled to communicate wirelessly at the minimum power level required to maintain identification and status feedback communication, and the drive power is kept at a preset low level when the potential electromagnetic interference source to be verified is activated, so as to avoid irreversible electromagnetic damage or interference to other devices in the system caused by the verification process itself.

[0011] Furthermore, the electromagnetic feature identifier in this method adopts a hierarchical data structure, including: The device hardware identification layer records the device model, hardware version, and inherent electromagnetic parameters; The interference feature layer records the radiation spectrum characteristics generated at multiple representative frequency points when each interference source is activated, as measured in low-power verification mode. The susceptibility feature layer records threshold data of the performance degradation or malfunction of each electromagnetically sensitive component in the device when subjected to interference of different frequency bands and intensities.

[0012] Furthermore, the method also includes: The strategy entries in the response strategy library are stored in the form of IF-THEN rules. The IF part contains a multi-condition combination description of the abnormal electromagnetic environment type, intensity, range of influence and type of affected equipment. The THEN part contains a series of ordered executable action instructions. The executable action instructions include, but are not limited to: frequency band switching instructions, power adjustment instructions, shielding level adjustment instructions, equipment working mode switching instructions and instructions to send alarm information to manned rescue terminals.

[0013] Furthermore, the method also includes: The specific frequency band signal suppression function is implemented through firmware instructions of the device communication module. When the function is activated, the communication module blocks the signal generation and amplification link of the specified frequency band at the physical layer, or locks its transmit power controller at the low power value specified in the protocol.

[0014] Furthermore, step S5 of this method, which evaluates the actual effectiveness of the electromagnetic safety configuration in this task, employs a key performance indicator comparison method, specifically including: Compare the actual average signal-to-noise ratio of the critical communication links during the mission with the expected signal-to-noise ratio based on the initial electromagnetic security configuration set; The number of communication interruptions caused by electromagnetic interference and the total duration were counted and compared with the baseline of similar historical tasks. Analyze the success rate and problem resolution rate of the actual triggered response strategies; In this method, all control commands and strategy configuration data issued by the collaborative control center are transmitted through the communication network of the rescue system using digital signatures and encryption to ensure the integrity and immutability of the electromagnetic safety configuration information itself.

[0015] This invention discloses an electromagnetic safety design method for a human-machine collaborative rescue system in extreme environments, belonging to the field of artificial intelligence technology. It addresses the complex electromagnetic compatibility challenges faced by various manned and unmanned rescue equipment operating collaboratively in harsh environments such as frigid snow-capped mountains. The core of this method lies in constructing and adaptively adjusting an electromagnetic safety baseline framework before the mission, continuously sensing the environment and dynamically adjusting communication strategies and equipment parameters during the mission, proactively predicting and avoiding electromagnetic conflicts when equipment operates in close proximity, and finally completing safety audits and knowledge base updates after the mission, forming a closed-loop management system. This invention effectively overcomes the limitations of static configuration in existing technologies and can significantly improve the overall robustness, communication reliability, and mission success rate of the rescue system in extremely complex electromagnetic environments. Attached Figure Description

[0016] Figure 1 This is a flowchart illustrating the electromagnetic safety design method for a human-machine collaborative rescue system in extreme environments, as claimed in an embodiment of the present invention. Figure 2 This is a second flowchart of an electromagnetic safety design method for a human-machine collaborative rescue system for extreme environments, as claimed in an embodiment of the present invention. Figure 3 The third flowchart is a diagram of an electromagnetic safety design method for a human-machine collaborative rescue system for extreme environments, as claimed in an embodiment of the present invention. Figure 4 The fourth flowchart is a diagram of an electromagnetic safety design method for a human-machine collaborative rescue system for extreme environments, as claimed in an embodiment of the present invention. Detailed Implementation

[0017] According to a first embodiment of the present invention, the present invention claims protection for an electromagnetic safety design method for a human-machine collaborative rescue system for extreme environments, applicable to a rescue system comprising a manned rescue terminal, unmanned rescue equipment, and a collaborative control center, wherein the method is executed by the collaborative control center, and refers to... Figure 1 This includes the following steps: S1. Construct an electromagnetic safety benchmark framework for rescue missions. Based on a predefined database of typical electromagnetic environment characteristics of rescue mission types and mission areas in frigid snow mountain environments, match and initialize the electromagnetic safety benchmark framework for the current rescue mission. S2. Perform electromagnetic compatibility verification of rescue equipment upon entry, sequentially activate potential electromagnetic interference sources and monitor the communication quality indicators of all other devices in the system and the status of self-reported electromagnetically sensitive components, generate electromagnetic feature identifiers, and make initial adaptive adjustments to the transmission power baseline or shielding level of relevant devices to form an initial electromagnetic safety configuration set specific to the mission. S3. Using the spectrum sensing modules built into each unmanned rescue device and manned rescue terminal, perform wideband scanning and recording of the background electromagnetic noise level in the mission area, and monitor the signal-to-noise ratio and bit error rate of the communication links between each device in real time to determine whether an abnormal electromagnetic environment has occurred and retrieve matching response strategies from the pre-set response strategy library. S4. When it is detected that at least two unmanned rescue devices need to enter the preset close-range collaborative operation mode, based on the task-specific initial electromagnetic safety configuration set and electromagnetic characteristic identifier, predict the mutual electromagnetic interference risk that may be generated during collaborative operation due to simultaneous signal transmission or start-up of work load. Based on the predicted risk, generate a temporary collaborative operation electromagnetic protocol for the group of devices that are about to enter the collaborative operation mode. S5. After the rescue mission is completed in stages or in its entirety, collect data to evaluate the effectiveness of the electromagnetic safety configurations that actually took effect during the mission. Based on the evaluation results, conduct a post-mission electromagnetic safety audit and update the knowledge base. Archive the electromagnetic feature identifiers generated during the mission and the mission-specific initial electromagnetic safety configuration set into the historical case library.

[0018] Furthermore, the method also includes: The electromagnetic safety benchmark framework defines the primary and backup communication frequency bands, the maximum permissible transmit power baseline, the required receive sensitivity thresholds, and the default shielding levels of key electromagnetically sensitive components within the equipment for different mission phases between manned rescue terminals and unmanned rescue equipment, as well as between unmanned rescue equipment and each other. The strategies in the response strategy library include at least: enabling backup communication frequency bands, instructing relevant equipment to make power adaptive adjustments within the maximum transmit power baseline range, and upgrading the specified shielding level of specific vulnerable equipment; The collaborative operation electromagnetic protocol specifies at least the time-sharing transmission sequence of each device during collaborative operation, the temporary power limit not exceeding its individual maximum transmission power baseline, and the specific frequency band signal suppression function that must be enabled during non-transmission periods; during collaborative operation, the relevant devices are forced to implement the protocol.

[0019] This embodiment simulates a search and rescue mission for a missing person in a frigid, snow-covered mountain environment. The rescue system includes a vehicle-mounted collaborative control center located at the forward camp, a frontline commander carrying a ruggedized tablet computer with a manned rescue terminal and a dedicated radio, multiple hexacopter unmanned reconnaissance aircraft, and multiple tracked unmanned search vehicles. The mission area has complex terrain, with residual signals from unknown civilian signal relay stations and natural electromagnetic noise amplification caused by strong winds. This embodiment will detail how the method is implemented step-by-step in this mission to ensure electromagnetic compatibility and communication reliability of the personnel and equipment throughout the rescue operation.

[0020] This method is executed by the collaborative control center at the forward camp. First, the center operator inputs the metadata for this high-altitude personnel search mission. Based on this, the system retrieves electromagnetic environment templates similar to high-altitude, frigid regions from a pre-stored feature library to construct an initial electromagnetic safety baseline framework. This framework specifies that the A-band is the primary frequency for communication between UAVs and ground vehicles, with the B-band as a backup, and the C-band is used for communication with manned terminals. It also sets initial power limits and receiver sensitivity requirements for each link in a -20°C environment, and presets the shielding level of all core circuits to medium. Before the mission begins, all UAVs and manned terminals are instructed to enter the entry electromagnetic compatibility verification mode. Each device sequentially activates its image transmission module, radar module, and other potential interference sources at low power, while the center simultaneously monitors the communication quality of the entire temporary network. For example, if the radar module of UAV No. 3 is found to be active, it will cause a slight decrease in the signal-to-noise ratio of ground vehicle No. 2 in the A-band. The system records this interference relationship and accordingly slightly lowers the baseline of the maximum allowable transmission power of UAV No. 3 when using the A-band, forming the initial electromagnetic safety configuration set for this mission.

[0021] After the mission commenced, the system continuously performed dynamic electromagnetic environment perception and strategy adjustment. When a drone flew over a valley, its spectrum perception module detected a strong and stable narrowband interference signal in the D band, far exceeding the normal baseline for that area in the feature database, and causing an increase in the bit error rate of the C band link between the drone and the control center. The system determined this to be an abnormal electromagnetic environment and, based on the strategy database, instructed the drone and other related devices in the area to immediately switch their control links to the backup B band, and communication subsequently stabilized. In another scenario, multiple drones needed to work collaboratively at close range to surround and film a cliff. Based on their electromagnetic signatures, the system predicted that simultaneous activation of high-definition image transmission would cause mutual interference. Therefore, a temporary collaborative electromagnetic protocol was generated and issued: stipulating that drones transmit image transmission signals in time slots 1, 2, and 3, and must completely shut down their image transmission circuits during non-self-transmission time slots. The entire collaborative filming process proceeded smoothly without any loss of footage due to mutual interference. After the mission concluded, the system performed an electromagnetic safety audit and updated its knowledge base. Analysis of the entire log revealed that the initial estimate of natural noise in a certain area was too low, resulting in insufficient preset receiver sensitivity thresholds at certain times. Based on this, the system updated the noise level data for that area in the feature library and optimized the calculation rules for the relevant sensitivity thresholds in the baseline framework. The complete configuration of this task was archived as a success case.

[0022] Furthermore, referring to Figure 2 The method further includes the following in step S1: S101. Analyze the metadata of the current rescue mission. The metadata should include at least the geographical coordinate range of the mission, the expected altitude range of the mission, the type of the core target of the mission, and the type and quantity of equipment to be deployed. S102. Based on the geographical coordinate range of the mission and the expected altitude range of the mission, retrieve the matching background electromagnetic spectrum profile of the region under frigid conditions from the typical electromagnetic environment feature database, which is obtained by statistical analysis of historical data. S103. Based on the core objective type of the task and the expected equipment type, determine the core functional modules that each device participating in the task needs to activate at each stage of the task, as well as their corresponding typical operating frequency bands and power consumption modes, from the predefined device-task mapping relationship. S104. Combining the retrieved background electromagnetic spectrum profile with the typical operating frequency bands of each device, and taking into account the principle of avoiding the main operating frequency band from entering the frequency band of potential unknown interference or the high intensity of civilian communication frequency bands, a frequency band optimization algorithm is used to allocate appropriate primary and backup communication frequency bands to each communication link. S105. Based on the noise floor level of the background electromagnetic spectrum profile in the main communication frequency band, the performance parameters of the equipment communication module, and the signal-to-noise ratio margin required to ensure basic communication quality, calculate and set the maximum allowable transmit power baseline and the necessary receive sensitivity threshold for each device on the corresponding link. S106. Based on the core functional modules that each device needs to activate in the mission and their electromagnetic susceptibility levels, and combined with the overall intensity of the background electromagnetic spectrum profile, set the default shielding level of the key electromagnetically sensitive components in each device. The shielding level is related to the range of external field strength to be suppressed.

[0023] In this embodiment, the system performs detailed operations during step S1 when constructing the baseline framework. First, it parses the mission metadata: the geographical coordinates cover an area above the snow line at an altitude of 3000 to 3500 meters, with longitudes XXX-XXX east and latitudes YYY-YYY north; the core objective of the mission is to search for vital signs; the equipment deployed includes four long-endurance unmanned reconnaissance aircraft (UAV-X), two ground search vehicles (UGV-Y), and one manned rescue terminal.

[0024] Subsequently, based on the coordinates and altitude range, the system retrieved matching historical data from a database of typical electromagnetic environment features. The search results showed that the region exhibited the following characteristics under frigid conditions: periodic but unstable weak signal remnants in the commonly used civilian satellite frequencies in the E-band; intermittent impulse noise in the sidelobe frequencies of certain weather radars in the F-band; and, due to the low temperature and dry air, the background noise floor in the UHF band was generally lower by a certain proportion than that in temperate plains areas.

[0025] Next, based on the target of the vital signs search, the core functions of each device are mapped: UAV-X needs to enable the high-resolution infrared thermal imager to generate wideband switching power supply noise and the real-time video encoding transmission module to operate in the G band; UGV-Y needs to enable the life detection radar to operate in the H band and the terrain perception lidar to generate specific frequency harmonic interference from its servo motor.

[0026] Based on the above information, the system performs frequency band optimization. To avoid conflicts with known E-band residual signals and F-band impulse noise, and to avoid the core noise frequency band of the equipment itself, the algorithm calculates and ultimately allocates the following: the data relay link between the UAV and the ground vehicle uses the I-band as the primary frequency and the J-band as the backup; the command link between the manned terminal and all unmanned equipment uses the K-band as the primary frequency and the L-band as the backup.

[0027] Then, power and sensitivity are calculated. Taking the I-band as an example, considering the low-noise baseline in the I-band, the device antenna gain, and the high signal-to-noise ratio margin required to ensure high-definition video streaming, the baseline transmit power value for the UAV on this link is calculated to be P_tx_uav, and the receive sensitivity threshold for the ground vehicle is set to Sen_rx_ugv. Similarly, the corresponding baselines and thresholds are calculated and set for all other critical links.

[0028] Finally, the default shielding level was set. Given that the UAV-X's infrared thermal imager core sensor is extremely sensitive to interference near the H-band, and the UGV-Y's life detection radar operates in the H-band, the UAV-X's infrared sensor shielding level was set to high within the baseline framework, requiring its shielding to have strong suppression capabilities against external H-band field strength. The UGV-Y's radar data processing unit shielding level was set to medium to balance protection and heat dissipation requirements.

[0029] Furthermore, referring to Figure 3 The method further includes step S3 as follows: S301. The collaborative control center sends synchronous spectrum scanning instructions to all online unmanned rescue equipment and manned rescue terminals at a fixed time period T, specifying the frequency band range to be scanned in the instructions. S302. After receiving the instruction, each device, during its non-critical business communication intervals, calls its built-in spectrum sensing module to quickly scan the specified frequency band, obtain the instantaneous signal strength values ​​of each discrete frequency point or narrowband frequency band, and package the scan results back to the collaborative control center. S303. The collaborative control center summarizes the scanning results of all devices, performs spatial fusion processing on the scanning data that overlaps in the same geographical area, and generates a fused electromagnetic environment snapshot of the current task area within the time period T. S304. Compare the fused electromagnetic environment snapshot generated in the current period with the expected electromagnetic environment baseline of the region generated based on historical data or typical electromagnetic environment feature library, identify abnormal frequency band regions where the signal strength exceeds the expected baseline threshold, and time the duration of the occurrence of the abnormal frequency band region. S305. While generating an environmental snapshot, collect in parallel the real-time communication performance data reported by each device between itself and the communication peer. The communication performance data includes at least the current signal-to-noise ratio, bit error rate, and link round-trip time. Set corresponding performance degradation alarm thresholds according to the type of communication link and the priority of the carried services. S306. When preset conditions are met simultaneously, an abnormal electromagnetic environment determination is triggered, and the frequency domain distribution characteristics of the abnormal environment are analyzed to obtain the interference type determination result and intensity level. S307. Based on the interference type determination result and intensity level, query the response strategy library and execute the corresponding strategy; S308. After executing any response strategy, start the effect monitoring period. During this period, increase the monitoring frequency of relevant frequency bands and links. If the abnormal state is eliminated or the communication performance is restored after the strategy is executed, record the strategy as an effective response measure for this abnormal event. If the strategy is ineffective, try the combination strategy in the strategy library or start the manual intervention process according to the preset upgrade process.

[0030] In this embodiment, the system performs refined operations during the dynamic sensing and adaptation phase. The collaborative control center broadcasts a synchronous spectrum scan command to all devices every five minutes (cycle T), requiring a scan of a wide range from band M to band N. This range completely covers all communication frequency bands used by the system, including bands I, J, K, and L, as well as critical frequency bands that may affect sensor operation.

[0031] Upon receiving the instruction, each device suspends non-critical data transmission and invokes its spectrum sensing chip to complete a rapid scan of the designated frequency band within milliseconds. For example, UAV No. 1, at an altitude of 3200 meters, detects a high-intensity continuous wave signal in the O band. It immediately packages this data, including signal strength, its own GPS coordinates, and a timestamp, and sends it back to the center. Simultaneously, UAV No. 2 flying in the nearby area and vehicle No. 1 traveling on the ground also report similar O band signal data, albeit with slightly different intensities.

[0032] After receiving all the data, the center performs fusion processing. Due to the different locations of each device, their scan data reflects the spatial distribution of the signal. The center uses an algorithm to generate an electromagnetic weather map of the current mission area. This map shows that in a region to the southeast, there is a signal hotspot in the O-band with a significantly higher intensity than the historical baseline, and its intensity decreases with distance from the center of the region.

[0033] The system compared the intensity and duration of the hotspot with a baseline. The baseline showed that the O-band in this area typically had very low background noise. The current hotspot intensity has exceeded the threshold and has lasted for more than 15 minutes since its initial detection (Tm=10 minutes), meeting the stability condition. Simultaneously, the system detected UAV No. 3 flying at the edge of the hotspot; the signal-to-noise ratio of its K-band command link with the control center decreased by approximately 40%, and the bit error rate increased, approaching the alarm threshold set for the command link.

[0034] Based on the above information, the system determined that a stable, narrowband O-band anomalous electromagnetic environment existed in the southeast region. The source was initially unknown but was later verified as stray emissions caused by a transmitter malfunction at an abandoned weather station. Based on this determination, the system consulted its response strategy database. The matched strategy was: for stable narrowband interference affecting the main command link, execute the switch to a backup frequency band. Therefore, the coordination control center immediately sent encrypted commands to all UAVs and ground vehicles in or about to enter the affected area, requiring them to immediately switch their command link from the K-band to the backup L-band and resynchronize the link. After the command was issued, monitoring showed that the link signal-to-noise ratio and bit error rate of UAV No. 3 quickly returned to normal levels. The system recorded O-band narrowband interference – switching to the L-band – as an effective response to this incident. In subsequent missions, when other equipment approached the area, the system would proactively prompt or automatically execute frequency band switching, ensuring the robustness of the command link throughout the mission.

[0035] Furthermore, referring to Figure 4 The method further includes step S4 as follows: S401. When it is determined through task planning or real-time instructions that at least two unmanned rescue devices need to enter a close-range collaborative operation mode, obtain real-time or estimated collaborative operation location information and calculate the expected distance between the devices. S402. Retrieve the electromagnetic feature identifiers generated by the relevant equipment, and construct a prediction matrix for potential mutual interference between multiple equipment based on the expected spacing, the radiation field strength attenuation model of each equipment, and the tolerance threshold. S403. Analyze the potential mutual interference prediction matrix, identify equipment pairs with excessive interference risk and the corresponding risk frequency bands, and plan conflict mitigation measures according to the risk type. S404. Based on the planned conflict resolution measures, generate a temporary collaborative electromagnetic protocol. S405. Before the equipment group enters the collaborative operation area, a temporary collaborative operation electromagnetic protocol is sent to each relevant equipment. After receiving the protocol, each equipment configures a temporary communication strategy and power strategy in its control module and returns a confirmation ready signal. S406. During collaborative operations, the collaborative control center monitors whether each device follows the timing specified in the agreement to transmit, and samples its actual transmission power for inspection. S407. If, during collaborative operation, a device requests an adjustment to its behavior due to task requirements, it applies to the collaborative control center for protocol adjustment via a low-speed command link. The collaborative control center then assesses the impact of the adjustment on electromagnetic compatibility. S408. When the collaborative operation mode ends, the equipment group is disbanded or the spacing is increased to a safe range, the collaborative control center sends an instruction to release the temporary protocol executed by each device and restore the general configuration corresponding to the initial electromagnetic safety configuration set specific to the task.

[0036] In this embodiment, when a detailed investigation of a suspected ice crevasse is required, the system plans for Ground Vehicle No. 1 (UGV-Y) and Unmanned Aerial Vehicle (UAV-X) No. 2 to enter a close-range collaborative operation mode. The vehicle is equipped with a high-precision ground-penetrating radar, and the UAV is equipped with a lighting device and an overhead camera; the two must maintain a distance of approximately ten meters while moving collaboratively.

[0037] First, the collaborative control center obtained the planned paths of both entities and calculated that their distance would remain between eight and twelve meters over the next five minutes.

[0038] Next, the center retrieved the electromagnetic signatures of the two devices. The signature of vehicle No. 1 showed that its ground-penetrating radar operates in the H-band and generates a field strength of E_radar at a distance of five meters. The signature of UAV No. 2 showed that the magnetometer in its flight control system is very sensitive to the H-band. When the external H-band field strength exceeds E_safe, it may cause the heading angle reading to drift.

[0039] Then, based on the spacing and the above model, a prediction matrix was constructed. Calculations revealed that when the radar of vehicle 1 operates at full power, the predicted H-band radiation field strength at the location of the magnetometer of UAV 2 at a distance of ten meters is E_predicted, which is higher than E_safe. This indicates a clear risk of interference.

[0040] Based on this risk, the system plans mitigation measures: the main source of risk is the continuous H-band transmission of vehicle No. 1. Therefore, the core of the plan is to design an intermittent operating mode for the radar of vehicle No. 1 and to provide protection for UAV No. 2 during its radar transmission periods.

[0041] Subsequently, a specific temporary collaborative operation electromagnetic protocol was generated. The protocol stipulates: ① The collaborative operation time is divided into several 200-millisecond cycles. Within each cycle, the first 50 milliseconds are the radar detection window. During this time, Vehicle 1 activates its radar for detection, while UAV 2 must strictly disable its image transmission frequency band, which is unrelated to radar harmonics. However, to completely eliminate potential impacts, the anti-interference filtering mode of the flight control magnetometer is activated. The following 150 milliseconds are the data transmission and maneuvering window. During this time, Vehicle 1 shuts down its radar, processes and transmits data, while UAV 2 can use its image transmission normally and disables the magnetometer's special filtering mode to obtain more accurate readings. ② Simultaneously, the protocol temporarily limits the transmission power of Vehicle 1's radar within the radar detection window to 80% of its original maximum power baseline to further reduce far-field radiation.

[0042] After the agreement was issued, both devices confirmed receipt and completed configuration. During collaborative operations, the center monitored that the two devices strictly adhered to the time-sharing protocol. The radar was only periodically activated within designated windows; the UAV image transmission signal completely disappeared during the radar window and immediately resumed during the data window. The low-speed command link used to coordinate the relative positions of the two devices remained operational throughout, utilizing a pre-allocated M-band that was far from the H-band.

[0043] Mid-operation, the operator of vehicle number 1 requested a temporary increase in radar scanning resolution, which would require a longer single-transmission time. The operator sent the request via a low-speed command link. After evaluation, the coordination control center determined that extending the radar window from 50 milliseconds to 80 milliseconds would compress the UAV's effective operating time, potentially affecting overall detection efficiency, and would offer little marginal improvement in electromagnetic safety. Therefore, the center rejected the request and recommended maintaining the original protocol to ensure the coordination rhythm.

[0044] Once the collaborative reconnaissance concluded and the two devices separated, the center sent a command to terminate the temporary protocol. Vehicle 1's radar resumed continuous operation while adhering to its own power baseline, and UAV 2 also resumed its normal electromagnetic configuration.

[0045] Furthermore, in step S2, the method guides each unmanned rescue device and manned rescue terminal to operate in a specified low-power verification mode, including: Each device is controlled to communicate wirelessly at the minimum power level required to maintain identification and status feedback communication, and the drive power is kept at a preset low level when the potential electromagnetic interference source to be verified is activated, so as to avoid irreversible electromagnetic damage or interference to other devices in the system caused by the verification process itself.

[0046] In this embodiment, during the entry verification phase, to safely obtain the true electromagnetic characteristics of the equipment, the system strictly implements a low-power verification mode. For example, for a ground search vehicle, the verification command sent by the center includes a special power control code. This command causes the vehicle's communication module to broadcast a heartbeat signal at an extremely low power—for example, only two percent of the normal long-range communication power—just enough to cover the advance camp area. Simultaneously, it commands the vehicle to sequentially activate its life detection radar. When the radar is activated, the verification protocol forces the radar's transmit power drive circuit to operate at its lowest available diagnostic power level, where the radiation intensity is only sufficient for self-testing, far lower than the intensity at full power. In this way, even if the radar has a serious electromagnetic leakage problem in an unknown state, the interference it generates at low power is limited and controllable, avoiding the risk of burning out or interfering with other sophisticated UAV equipment being prepared nearby due to high-power testing before the mission begins, and safely exposing its potential interference characteristics.

[0047] Furthermore, the electromagnetic feature identification method employs a hierarchical data structure, including: The device hardware identification layer records the device model, hardware version, and inherent electromagnetic parameters; The interference feature layer records the radiation spectrum characteristics generated at multiple representative frequency points when each interference source is activated, as measured in low-power verification mode. The susceptibility feature layer records threshold data of the performance degradation or malfunction of each electromagnetically sensitive component in the device when subjected to interference of different frequency bands and intensities.

[0048] In this embodiment, the electromagnetic signature generated for each device in this system is a structured electronic file. Taking an unmanned reconnaissance aircraft as an example, its signature includes: Device hardware identification layer: records the device's unique serial number, the hardware micro-version involved in the production batch, the spurious emission index of the communication module measured at the time of leaving the factory, the antenna pattern main lobe width and other inherent parameters.

[0049] Interference Feature Layer: This layer records data obtained during testing in low-power calibration mode. For example, entry #1, under the main image transmission encoder power supply, records the typical intensity spectrum of harmonic noise generated at multiple discrete frequency points such as P, Q, and R when the power supply is operating. Entry #2, under the PTZ servo motor, records the electromagnetic noise characteristics of specific frequencies generated by the motor at different speeds.

[0050] Susceptibility Feature Layer: This layer records the susceptibility data of key components of the device. For example, under Susceptible Component #1: GPS Receiver Module, the threshold at which its positioning accuracy begins to decrease when there is continuous wave interference of a specific intensity in the S-band is recorded during laboratory testing; under Susceptible Component #2: Optoelectronic Pod Image Sensor, its tolerance level to burst noise in the T-band is recorded, and stripes will appear in the image if this level is exceeded.

[0051] This hierarchical identification allows the system to understand the commonalities of equipment models from a macro perspective, while also accurately grasping the individual characteristics of specific devices in terms of electromagnetic interference generation and tolerance, thus providing a data foundation for precise electromagnetic compatibility management.

[0052] Furthermore, the method also includes: The policy entries in the response policy library are stored in the form of IF-THEN rules. The IF part contains a description of multiple conditions for the abnormal electromagnetic environment type, intensity, range of influence and type of affected equipment. The THEN part contains a series of ordered executable action instructions, including but not limited to: frequency band switching instructions, power adjustment instructions, shielding level adjustment instructions, equipment operating mode switching instructions and instructions to send alarm information to manned rescue terminals.

[0053] In this embodiment, the response strategy library is a knowledge base of a rule engine. A typical strategy entry is as follows: IF (condition part): Abnormal environment type == Broadband background noise enhancement; Noise boosting main frequency band == main data link frequency band I; The noise level of medium intensity is defined as causing a 30%-50% decrease in signal-to-noise ratio. Affected equipment type: All UAV-X model drones that use the I-band for data transmission.

[0054] THEN (Action Part): Send a command to all eligible UAV-X drones: Increase the transmit power of the I-band data link by one level according to the preset power step size, such as 2dBm; After the command is issued, a two-minute effect monitoring window will be launched; If the signal-to-noise ratio of the affected link recovers to above the safe threshold within the monitoring window, the policy is recorded as successful and the new power setting is maintained. If the signal-to-noise ratio has not recovered after the monitoring window ends, the next action is to send a command to the affected drone to attempt to switch the data encoding mode from 'high efficiency mode' to 'strong error correction mode'. At the same time, an alarm message is pushed to the command interface of the manned rescue terminal: 'The regional electromagnetic environment has deteriorated, and the data link bandwidth or latency may increase. Please be aware.'

[0055] This structured rule storage enables the system to automatically match and execute a series of orderly and reasonable response operations based on complex and specific on-site situations.

[0056] Furthermore, the method also includes: The specific frequency band signal suppression function is implemented through firmware instructions of the device communication module. When this function is activated, the communication module blocks the signal generation and amplification link of the specified frequency band at the physical layer, or locks its transmit power controller at the low power value specified in the protocol.

[0057] In this embodiment, the specific frequency band signal suppression function required in the collaborative operation electromagnetic protocol is specifically implemented in the device's communication module firmware. When the protocol requires a UAV to suppress its image transmission in the G band during a certain time slot, the instruction issued by the collaborative control center includes an explicit G band suppression command code. After being parsed by the UAV's main communication processor, this command code generates a low-level hardware control instruction, which is directly sent to the RF front-end chip responsible for the G band. This chip has a frequency band enable register. Upon receiving the suppression instruction, it physically disconnects a critical switch on the G band signal generation link or locks the bias voltage of the power amplifier to a near-zero value. This is not achieved by preventing data transmission through software, but rather by ensuring at the hardware level that the device's antenna port has almost no energy radiation in the G band during that time period, thus perfectly achieving the time-division isolation required by the protocol and avoiding accidental transmissions that may occur at the software level due to buffering, latency, or other issues.

[0058] Furthermore, step S5 of this method evaluates the actual effectiveness of the electromagnetic safety configuration in this task using a key performance indicator comparison method, specifically including: Compare the actual average signal-to-noise ratio of critical communication links during the mission with the expected signal-to-noise ratio based on the initial electromagnetic security configuration set; The number of communication interruptions caused by electromagnetic interference and the total duration were counted and compared with the baseline of similar historical tasks. Analyze the success rate and problem resolution rate of the actual triggered response strategies; In this method, all control commands and strategy configuration data issued by the collaborative control center are transmitted in the communication network of the rescue system through digital signatures and encryption to ensure the integrity and immutability of the electromagnetic safety configuration information itself.

[0059] In this embodiment, during the post-mission audit phase, the system employs a key performance indicator (KPI) comparison method for evaluation. For example, for the UAV main data link I band from the forward camp to the furthest patrol point: The system retrieved the actual signal-to-noise ratio data of the link, which was sampled once per minute throughout the entire eight-hour task, and calculated its average value as SNR_actual.

[0060] Meanwhile, the system calculates an expected theoretical average signal-to-noise ratio (SNR)_expected based on the initial transmit power, receive sensitivity, and expected noise level of the path retrieved from the feature library at the start of the mission.

[0061] The assessment showed that SNR_actual was about 15 percent lower than SNR_expected. Further analysis of the system logs revealed that the difference mainly occurred during two periods: the middle of the mission when encountering unknown O-band interference and the later period when experiencing strong winds. During other stable periods, the actual values ​​were largely consistent with the expected values. This demonstrates that the initial baseline framework is reasonable under normal conditions, but its prediction of noise changes under sudden interference and extreme weather conditions is insufficient.

[0062] The system recorded 3 communication outages caused by electromagnetic interference across the entire network, totaling 2 minutes. Compared to the baseline of 5 outages and 5 minutes on average for similar historical tasks, the performance was significantly improved through dynamic adjustments.

[0063] The system analyzed all five triggered dynamic response strategies, including two frequency band switches and three power adjustments. Four of these successfully resolved the problem, while one power adjustment proved ineffective and was escalated to a frequency band switch. The strategy execution success rate was 80%, and the problem resolution rate was 100%.

[0064] Based on the above assessment, the system concludes that it is necessary to strengthen the data in the feature library on the correlation model between sudden local disturbances and strong winds and electromagnetic noise, and to introduce a higher environmental uncertainty margin in the sensitivity threshold calculation of the baseline framework.

[0065] To ensure the security of the electromagnetic safety configuration, the central nervous system command, all related control and configuration information transmissions are strictly protected. For example, when the collaborative control center needs to issue a new power baseline configuration to the entire network, it first generates a data packet containing the configuration command, device ID, new power value, effective time, etc., and then digitally signs the data packet using a private key pre-installed in the central hardware security module. The signature information is appended to the data packet. Finally, the entire data packet, including the command and signature, is encrypted using a symmetric session key updated daily during the mission, and then broadcast via the wireless network. After receiving the encrypted data, the UAV first decrypts it using the same session key, and then verifies the digital signature using the pre-stored central public key. Only when the signature verification is successful does the UAV consider it a genuine, tamper-proof, and authoritative command, and execute the power adjustment command contained within. This method fundamentally prevents malicious devices from forging harmful commands such as power reduction or switching to interfered frequency bands to launch electromagnetic attacks, ensuring the security and trustworthiness of the electromagnetic safety strategy itself.

[0066] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces, or indirect coupling or communication connection between apparatuses or units, and may be electrical, mechanical, or other forms.

[0067] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated units described above can be implemented in hardware or as software functional units. The above are merely embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made based on the description and drawings of this application, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

[0068] The specific embodiments of the invention have been described in detail above, but they are only examples, and this application is not limited to the specific embodiments described above. For those skilled in the art, any equivalent modifications or substitutions to the invention are also within the scope of this application. Therefore, all equivalent changes, modifications, and improvements made without departing from the spirit and principles of this application should be covered within the scope of this application.

Claims

1. An electromagnetic safety design method for a human-machine collaborative rescue system for extreme environments, characterized in that, Applied to a rescue system comprising manned rescue terminals, unmanned rescue equipment, and a collaborative control center, the method is executed by the collaborative control center and includes the following steps: S1. Construct an electromagnetic safety benchmark framework for rescue missions. Based on a predefined database of typical electromagnetic environment characteristics of rescue mission types and mission areas in frigid snow mountain environments, match and initialize the electromagnetic safety benchmark framework for the current rescue mission. S2. Perform electromagnetic compatibility verification of rescue equipment upon entry, sequentially activate potential electromagnetic interference sources and monitor the communication quality indicators of all other devices in the system and the status of self-reported electromagnetically sensitive components, generate electromagnetic feature identifiers, and make initial adaptive adjustments to the transmission power baseline or shielding level of relevant devices to form an initial electromagnetic safety configuration set specific to the mission. S3. Using the spectrum sensing modules built into each unmanned rescue device and manned rescue terminal, perform wideband scanning and recording of the background electromagnetic noise level in the mission area, and monitor the signal-to-noise ratio and bit error rate of the communication links between each device in real time to determine whether an abnormal electromagnetic environment has occurred and retrieve matching response strategies from the pre-set response strategy library. S4. When it is detected that at least two unmanned rescue devices need to enter a preset close-range collaborative operation mode, based on the task-specific initial electromagnetic safety configuration set and the electromagnetic feature identifier, predict the mutual electromagnetic interference risk that may be generated during collaborative operation due to simultaneous signal transmission or start-up of work load. Based on the predicted risk, generate a temporary collaborative operation electromagnetic protocol for the group of devices that are about to enter the collaborative operation mode. S5. After the rescue mission is completed in stages or in its entirety, collect data to evaluate the effectiveness of the electromagnetic safety configurations that actually took effect in this mission. Based on the evaluation results, conduct a post-mission electromagnetic safety audit and knowledge base update, and archive the electromagnetic feature identifiers generated in this mission and the mission-specific initial electromagnetic safety configuration set into the historical case library.

2. The method according to claim 1, characterized in that, Also includes: The electromagnetic safety benchmark framework defines the primary communication frequency band, backup communication frequency band, maximum permissible transmit power baseline, required receive sensitivity threshold, and default shielding level of key electromagnetically sensitive components within the equipment between the manned rescue terminal and each unmanned rescue device, and between each unmanned rescue device and each other, under different mission phases. The strategies in the response strategy library include at least: enabling the backup communication frequency band, instructing relevant equipment to make power adaptive adjustments within the maximum transmission power baseline range, and upgrading the specified shielding level of specific vulnerable equipment; The collaborative operation electromagnetic protocol specifies at least the time-sharing transmission sequence of each device during collaborative operation, the temporary power limit not exceeding its individual maximum transmission power baseline, and the specific frequency band signal suppression function that must be enabled during non-transmission periods; during collaborative operation, the relevant devices are forced to execute the protocol.

3. The method according to claim 2, characterized in that, Step S1 also includes: S101. Parse the metadata of the current rescue mission. The metadata includes at least the geographical coordinate range of the mission, the expected altitude range of the mission, the type of the core target of the mission, and the type and quantity of equipment to be deployed. S102. Based on the geographical coordinate range of the mission and the expected altitude range of the mission, retrieve the matching background electromagnetic spectrum profile of the region under severe cold conditions from the typical electromagnetic environment feature library, which is obtained by statistical analysis of historical data. S103. Based on the core target type of the task and the expected type of equipment to be deployed, determine the core functional modules that each device participating in the task needs to activate at each stage of the task and their corresponding typical operating frequency bands and power consumption modes from the predefined device-task mapping relationship. S104. Combining the retrieved background electromagnetic spectrum profile with the typical operating frequency bands of each device, and based on the principle of avoiding the main operating frequency band from entering the potentially unknown high-frequency band or high-intensity civilian communication frequency band intensity area, a frequency band optimization algorithm is used to allocate appropriate main communication frequency bands and backup communication frequency bands to each communication link. S105. Based on the noise floor level of the background electromagnetic spectrum profile in the main communication frequency band, the performance parameters of the device communication module, and the signal-to-noise ratio margin required to ensure basic communication quality, calculate and set the maximum allowable transmit power baseline and the necessary receive sensitivity threshold for each device on the corresponding link. S106. Based on the core functional modules that each device needs to activate in the mission and their electromagnetic susceptibility levels, and combined with the overall intensity of the background electromagnetic spectrum profile, set the default shielding level of the key electromagnetically sensitive components in each device. The shielding level is related to the range of external field strength to be suppressed.

4. The method according to claim 2, characterized in that, Step S3 also includes: S301. The collaborative control center sends a synchronous spectrum scanning command to all online unmanned rescue equipment and manned rescue terminals at a fixed time period T, specifying the frequency band range to be scanned in the command. S302. After receiving the instruction, each device, during its non-critical business communication intervals, calls its built-in spectrum sensing module to quickly scan the specified frequency band, obtains the instantaneous signal strength values ​​of each discrete frequency point or narrowband frequency band, and packages the scan results and sends them back to the collaborative control center. S303. The collaborative control center summarizes the scanning results of all devices, performs spatial fusion processing on the scanning data that overlaps in the same geographical area, and generates a fused electromagnetic environment snapshot of the current task area within the time period T. S304. The fused electromagnetic environment snapshot generated in the current period is compared with the expected electromagnetic environment baseline of the region generated based on historical data or the typical electromagnetic environment feature library to identify abnormal frequency band regions where the signal strength exceeds the expected baseline threshold, and the duration of the occurrence of the abnormal frequency band region is timed. S305. While generating an environmental snapshot, collect in parallel the real-time communication performance data reported by each device between itself and the communication peer. The communication performance data includes at least the current signal-to-noise ratio, bit error rate, and link round-trip time. Set corresponding performance degradation alarm thresholds according to the type of communication link and the priority of the carried services. S306. When preset conditions are met simultaneously, an abnormal electromagnetic environment determination is triggered, and the frequency domain distribution characteristics of the abnormal environment are analyzed to obtain the interference type determination result and intensity level. S307. Based on the interference type determination result and intensity level, query the response strategy library and execute the corresponding strategy; S308. After executing any response strategy, start the effect monitoring period. During this period, increase the monitoring frequency of relevant frequency bands and links. If the abnormal state is eliminated or the communication performance is restored after the strategy is executed, record the strategy as an effective response measure for this abnormal event. If the strategy is ineffective, try the combination strategy in the strategy library or start the manual intervention process according to the preset upgrade process.

5. The method according to claim 2, characterized in that, Step S4 also includes: S401. When it is determined through task planning or real-time instructions that at least two unmanned rescue devices need to enter the close-range collaborative operation mode, obtain real-time or estimated collaborative operation location information and calculate the expected distance between the devices. S402. Retrieve the electromagnetic feature identifiers generated by the relevant devices, and construct a prediction matrix for potential mutual interference between multiple devices based on the expected spacing, the radiation field strength attenuation model of each device, and the tolerance threshold. S403. Analyze the potential mutual interference prediction matrix, identify equipment pairs with excessive interference risk and corresponding risk frequency bands, and plan conflict mitigation measures according to the risk type. S404. Generate the temporary collaborative operation electromagnetic protocol according to the planned conflict resolution measures; S405. Before the equipment group enters the collaborative operation area, the temporary collaborative operation electromagnetic protocol is sent to each relevant equipment. After receiving the protocol, each equipment configures a temporary communication strategy and power strategy in its control module and returns a confirmation ready signal. S406. During collaborative operation, the collaborative control center monitors whether each device follows the timing specified in the protocol to transmit, and samples and checks its actual transmission power. S407. If, during collaborative operation, a device requests an adjustment to its behavior due to task requirements, it applies to the collaborative control center for protocol adjustment through the low-speed command link. The collaborative control center then assesses the impact of the adjustment on electromagnetic compatibility. S408. When the collaborative operation mode ends, the equipment group is disbanded or the spacing is increased to a safe range, the collaborative control center sends an instruction to release the temporary protocol executed by each device and restore the general configuration corresponding to the initial electromagnetic safety configuration set specific to the task.

6. The method according to claim 2, characterized in that, In step S2 of the method, guiding each unmanned rescue device and manned rescue terminal to operate in a specified low-power verification mode includes: Each device is controlled to communicate wirelessly at the minimum power level required to maintain identification and status feedback communication, and the drive power is kept at a preset low level when the potential electromagnetic interference source to be verified is activated, so as to avoid irreversible electromagnetic damage or interference to other devices in the system caused by the verification process itself.

7. The method according to claim 2, characterized in that, The electromagnetic feature identifier adopts a hierarchical data structure, including: The device hardware identification layer records the device model, hardware version, and inherent electromagnetic parameters; The interference feature layer records the radiation spectrum characteristics generated at multiple representative frequency points when each interference source is activated, as measured in low-power verification mode. The susceptibility feature layer records threshold data of the performance degradation or malfunction of each electromagnetically sensitive component in the device when subjected to interference of different frequency bands and intensities.

8. The method according to claim 3, characterized in that, Also includes: The strategy entries in the response strategy library are stored in the form of IF-THEN rules. The IF part contains a multi-condition combination description of the abnormal electromagnetic environment type, intensity, range of influence and type of affected equipment. The THEN part contains a series of ordered executable action instructions. The executable action instructions include, but are not limited to: frequency band switching instructions, power adjustment instructions, shielding level adjustment instructions, equipment working mode switching instructions and instructions to send alarm information to manned rescue terminals.

9. The method according to claim 4, characterized in that, Also includes: The specific frequency band signal suppression function is implemented through firmware instructions of the device communication module. When the function is activated, the communication module blocks the signal generation and amplification link of the specified frequency band at the physical layer, or locks its transmit power controller at the low power value specified in the protocol.

10. The method according to claim 2, characterized in that, Step S5 describes evaluating the effectiveness of the electromagnetic safety configuration actually implemented in this mission, using a key performance indicator comparison method, specifically including: Compare the actual average signal-to-noise ratio of the critical communication links during the mission with the expected signal-to-noise ratio based on the initial electromagnetic security configuration set; The number of communication interruptions caused by electromagnetic interference and the total duration were counted and compared with the baseline of similar historical tasks. Analyze the success rate and problem resolution rate of the actual triggered response strategies; In this method, all control commands and strategy configuration data issued by the collaborative control center are transmitted through the communication network of the rescue system using digital signatures and encryption to ensure the integrity and immutability of the electromagnetic safety configuration information itself.

Images