Unmanned aerial vehicle-mounted electromagnetic shielding effectiveness online monitoring and warning system

Abstract

The invention relates to the field of electromagnetic monitoring, in particular to an unmanned aerial vehicle-mounted electromagnetic shielding effectiveness on-line monitoring and warning system, which comprises a task setting unit used for periodically setting tasks based on a reference interval duration and determining an omission monitoring target corresponding to an unmanned aerial vehicle according to a time urgency degree; the monitoring analysis unit is used for determining the monitoring category of the missing monitoring target according to the moving stability and the moving separation degree, and determining the monitoring mode of the unmanned aerial vehicle according to the monitoring category of the missing monitoring target; the distribution adjusting unit is used for judging whether the reference interval duration of the unmanned aerial vehicle needs to be adjusted or not according to the interference coefficient and adjusting the cluster reference range according to the coverage fluctuation degree; and the early warning prompt unit is used for judging whether to send first-class early warning or not according to the shielding effectiveness and judging whether to send second-class early warning or not according to the data failure degree. According to the invention, the monitoring efficiency of the unmanned aerial vehicle on the electromagnetic shielding effectiveness in the target area is effectively improved.

Description

Technical Field

[0001] This invention relates to the field of electromagnetic monitoring, and in particular to an online monitoring and alarm system for electromagnetic shielding effectiveness on unmanned aerial vehicles (UAVs). Background Technology

[0002] In complex battlefield electromagnetic warfare environments, UAVs have advantages over traditional methods such as fixed monitoring stations, satellite monitoring, and manned monitoring platforms in monitoring electromagnetic shielding effectiveness, including real-time tracking and wide coverage. However, with the expansion of monitoring areas, changes in electromagnetic interference intensity, and a significant increase in vehicle movement instability, UAV swarms have become the core means of wide-area real-time monitoring of the electromagnetic shielding effectiveness of combat vehicles. Therefore, how to intelligently dispatch UAVs to UAV swarms is a key link in ensuring monitoring effectiveness. Intelligent dispatch of UAVs can enable them to effectively respond to changes in the movement of monitored targets and achieve adaptive adjustments to the dispatch strategy.

[0003] Chinese Patent Publication No. CN118444030A discloses a data analysis-based real-time monitoring device and method for regional electromagnetic environment, including an operation display terminal and a flight terminal. The operation display terminal internally includes a monitoring management platform, a flight information unit, an operation supervision unit, a flight management unit, a flight tracking unit, and an environmental supervision unit. This invention analyzes the real-time monitoring of the regional electromagnetic environment from two perspectives: operation display and flight monitoring. This aims to reduce interference from the operation display device and the drone monitoring device to the real-time monitoring of the regional electromagnetic environment. Specifically, it performs information feedback risk and safety supervision analysis on operational risk data, understanding both the operational risk of the operation display device on the drone monitoring device and the integrity of the information displayed. It also performs flight acquisition, control, and supervision analysis on flight interference data to improve the accuracy of the collected information. However, while the above technical solution discloses the interference of monitoring devices on the real-time monitoring of the electromagnetic environment during actual monitoring, it does not consider the interference between drones in complex electromagnetic environments, which can lead to poor monitoring results and consequently, monitoring omissions or large errors in the monitoring data. Summary of the Invention

[0004] To address this issue, the present invention provides an online monitoring and alarm system for electromagnetic shielding effectiveness of unmanned aerial vehicles (UAVs), which overcomes the problem in the prior art that does not take into account the interference between UAVs in complex electromagnetic environments, resulting in poor monitoring performance of UAVs and thus leading to monitoring omissions or large errors in monitoring data.

[0005] To achieve the above objectives, the present invention provides an online monitoring and alarm system for electromagnetic shielding effectiveness on unmanned aerial vehicles (UAVs), comprising: The task setting unit is used to periodically set tasks based on a reference interval and determine the missing monitoring targets corresponding to the UAV according to the time urgency. The monitoring and analysis unit, which is connected to the task setting unit, is used to determine the monitoring category of the missed monitoring target based on the movement stability and movement separation, and to determine the monitoring mode of the UAV as fixed tracking monitoring or patrol monitoring based on the monitoring category of the missed monitoring target. The dispatch adjustment unit is connected to the task setting unit and the monitoring and analysis unit respectively, and is used to determine whether the reference interval of the UAV needs to be adjusted according to the interference coefficient, and to adjust the cluster reference range according to the coverage fluctuation. The early warning unit is connected to the task setting unit, the monitoring and analysis unit, and the dispatch and adjustment unit, respectively, and is used to determine whether to send a Class I early warning based on the shielding effectiveness, and whether to send a Class II early warning based on the data reliability.

[0006] Furthermore, the task setting unit determines the monitoring category of the missed monitoring target, including: Missed monitoring targets with a motion stability less than or equal to the preset motion stability or a motion separation greater than the preset motion separation are identified as single monitoring targets. Missing monitoring targets with a motion stability greater than the preset motion stability and a motion separation less than or equal to the preset motion separation are identified as multiple monitoring targets.

[0007] Furthermore, the task setting unit acquires the motion separation degree for a single missed monitoring target by performing several sub-separation degree detections and recording the average value of the sub-separation degree as the motion separation degree. The detection of single sub-separation is as follows: a circular region is constructed with the missed monitoring target as the center, which is denoted as the cluster reference range. The average distance between the missed monitoring target and other missed monitoring targets within the cluster reference range is detected and denoted as the sub-separation. The radius of the cluster reference range is a preset radius.

[0008] Furthermore, for a single monitoring target, the monitoring and analysis unit determines that the monitoring mode of the UAV is fixed tracking monitoring, and determines the sampling frequency based on the stability of movement; The sampling frequency is positively correlated with the motion smoothness.

[0009] Furthermore, the monitoring and analysis unit determines that the monitoring mode of the UAV is patrol monitoring for multiple monitoring targets. During patrol monitoring, the UAV moves according to the patrol path to monitor the electromagnetic shielding effectiveness of missed monitoring targets within the UAV's monitoring range. After completing a single patrol along the patrol path, the UAV will return to the multi-monitoring target corresponding to the starting detection point and repeat the patrol monitoring using the patrol path as its flight trajectory.

[0010] Furthermore, the monitoring and analysis unit determines the patrol path corresponding to a single multi-monitoring target, including: The time urgency of each missed monitoring target within the monitoring target cluster is detected, and the missed monitoring target with the highest time urgency is recorded as the starting patrol point. A patrol path is constructed using the location of the missed monitoring target as the starting detection point. The flight distance between the starting detection point and other missed monitoring targets within the monitoring target cluster that are not recorded in the patrol path is detected. The missed monitoring target with the shortest flight distance is recorded in the patrol path and set as the new starting patrol point. The above execution steps are repeated until all missed monitoring targets within the monitoring target cluster are recorded in the patrol path, thus obtaining the patrol path.

[0011] Furthermore, the dispatch adjustment unit determines the interference coefficient based on the spacing fluctuation of the avoidance zone, and in response to environmental interference conditions where the interference coefficient is greater than the preset interference coefficient, determines to increase the reference interval duration for the UAV. The adjustment range of the reference interval duration is positively correlated with the interference coefficient; The interference coefficient and the spacing fluctuation are both positively correlated.

[0012] Furthermore, the dispatch adjustment unit responds to flight conflict events where the coverage fluctuation is greater than the preset coverage fluctuation, and determines to reduce the adjustment for the preset radius; The adjustment range of the preset radius is positively correlated with the coverage fluctuation.

[0013] Furthermore, the early warning unit issues a Class I early warning through the ground receiving station for any missed monitoring targets whose shielding effectiveness is less than the benchmark shielding effectiveness.

[0014] Furthermore, the early warning unit sends a Class II early warning through the ground receiving station for missed monitoring targets whose data reliability exceeds the preset data reliability. The data reliability is defined as the variance of the shielding effectiveness determined by each UAV that has completed data collection for a missed monitoring target.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: the technical solution of the present invention determines the monitoring category of the missed monitoring target based on the stability of movement and the separation of movement. The stability of movement reflects the degree of speed change of the missed monitoring target in the target area during movement, and the separation of movement reflects the distance between the missed monitoring targets during movement. For missed monitoring targets with large speed changes or whose proximity distances exceed a preset range, they are judged as single monitoring targets. For missed monitoring targets with small speed changes and whose proximity distances are small, they are judged as multiple monitoring targets. This avoids the problem of low overall resource utilization efficiency of drones caused by indiscriminately dispatching drones to perform electromagnetic shielding effectiveness monitoring, resulting in resource redundancy and thus improving the working efficiency of drones.

[0016] Furthermore, in the technical solution of this invention, different monitoring modes of UAVs are set according to the monitoring category of the missed monitoring targets. For a single monitoring target, considering the difficulty of UAV monitoring, a one-to-one fixed tracking monitoring is adopted. For multiple monitoring targets, since the distance between each missed monitoring target within the cluster reference range is relatively stable, a single UAV is dispatched to monitor the electromagnetic shielding effectiveness of a single cluster reference range. This avoids electromagnetic interference between UAVs caused by an excessive number of UAVs in the target area, which would affect the monitoring effect of the UAVs and thus improve the monitoring efficiency of electromagnetic shielding effectiveness in the target area.

[0017] Furthermore, in the technical solution of the present invention, the reference interval duration of the UAV is determined based on the interference coefficient. Considering that there are already UAVs monitoring the electromagnetic shielding effectiveness in the target area, and the monitoring range of the UAVs is uniformly recorded as the avoidance area, if multiple UAVs are too close together, it will cause mutual interference and signal blockage, resulting in poor availability of the acquired monitoring data, thereby improving the monitoring efficiency of electromagnetic shielding effectiveness in the target area. Attached Figure Description

[0018] Figure 1 This is a unit connection diagram of the online monitoring and alarm system for electromagnetic shielding effectiveness of unmanned aerial vehicles (UAVs) according to the present invention. Figure 2 This is a flowchart illustrating the process of determining the monitoring category of missed monitoring targets based on movement stability and movement separation in this invention. Figure 3 This is a flowchart illustrating how the present invention determines the monitoring mode of a drone based on the monitoring category; Figure 4 This is a flowchart illustrating the process of determining whether the reference interval duration of the UAV needs to be adjusted based on the interference coefficient according to the present invention. Detailed Implementation

[0019] To make the objectives and advantages of the present invention clearer, the present invention will be further described below with reference to embodiments; it should be understood that the specific embodiments described herein are merely for explaining the present invention and are not intended to limit the present invention.

[0020] Preferred embodiments of the present invention will now be described with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are merely illustrative of the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0021] It should be noted that in the description of this invention, the terms "upper", "lower", "left", "right", "inner", "outer", etc., which indicate directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. This is only for the convenience of description and is not intended to indicate or imply that the device or element must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of this invention.

[0022] Furthermore, it should be noted that, in the description of this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0023] Please see Figures 1 to 4 As shown, the present invention provides an online monitoring and alarm system for electromagnetic shielding effectiveness of unmanned aerial vehicles (UAVs), comprising: The task setting unit is used to periodically set tasks based on a reference interval and determine the missing monitoring targets corresponding to the UAV according to the time urgency. The monitoring and analysis unit, which is connected to the task setting unit, is used to determine the monitoring category of the missed monitoring target based on the movement stability and movement separation, and to determine the monitoring mode of the UAV as fixed tracking monitoring or patrol monitoring based on the monitoring category of the missed monitoring target. The dispatch adjustment unit is connected to the task setting unit and the monitoring and analysis unit respectively, and is used to determine whether the reference interval of the UAV needs to be adjusted according to the interference coefficient, and to adjust the cluster reference range according to the coverage fluctuation. The early warning unit is connected to the task setting unit, the monitoring and analysis unit, and the dispatch and adjustment unit, respectively, and is used to determine whether to send a Class I early warning based on the shielding effectiveness, and whether to send a Class II early warning based on the data reliability.

[0024] This invention is applied in the real-time monitoring of the electromagnetic shielding effectiveness of unmanned aerial vehicles (UAVs) within a target area. The target area is the region where electromagnetic shielding effectiveness monitoring is required. The omitted targets are combat vehicles within the target area that are not within the UAV's monitoring range. A UAV sequence is constructed from currently unperforming UAVs. The UAVs in the sequence take off one by one. For UAVs about to take off, the omitted targets corresponding to that UAV are determined based on time urgency. In this invention, the UAVs monitor the electromagnetic shielding effectiveness of omitted targets at a fixed signal frequency. Every standard interval, a UAV mission is set. Each UAV corresponds to a monitoring range within a circular area centered on its monitoring location. The monitoring range of the UAV is determined based on its specifications and flight altitude. In this invention, when the UAV's flight altitude is 30m, the corresponding monitoring range is a circular area with a diameter of 35m. The UAV specifications include, but are not limited to, endurance.

[0025] For each missed monitoring target, the corresponding time urgency is the interval between the current time of the missed monitoring target and the end time of the most recent UAV monitoring in the time sequence. It can be understood that the longer the interval, the longer the time since the last electromagnetic shielding effectiveness monitoring of the missed monitoring target was carried out by the UAV, and the higher the demand of the missed monitoring target for the UAV.

[0026] The drone continuously monitors the electromagnetic shielding effectiveness of any missed targets for a specified duration. The duration of continuous monitoring is determined by the user's requirement for higher accuracy in monitoring electromagnetic shielding effectiveness. For a single target, the continuous monitoring duration is 90 seconds with a sampling interval of 30 seconds. For multiple targets, the continuous monitoring duration is determined based on the number of missed targets within the cluster reference range, with a sampling interval of 10 seconds. Each missed target within the cluster reference range undergoes two rounds of monitoring.

[0027] The value of the reference interval duration can be understood as follows: the higher the user's requirements for the accuracy of electromagnetic shielding performance monitoring, the smaller the value of the reference interval duration. A smaller reference interval duration is beneficial to increasing the frequency of task setting, thereby enabling the task setting to respond to the dynamic changes of the task in a timely manner. This invention provides a value of reference interval duration, in which the value of the reference interval duration is 3 minutes.

[0028] Specifically, the task setting unit determines the monitoring category of the missed monitoring target, including: Missed monitoring targets with a motion stability less than or equal to the preset motion stability or a motion separation greater than the preset motion separation are identified as single monitoring targets. Missing monitoring targets with a motion stability greater than the preset motion stability and a motion separation less than or equal to the preset motion separation are identified as multiple monitoring targets.

[0029] For a single missed monitoring target, the maximum and minimum moving speeds of the missed monitoring target within a reference interval are detected, and the absolute value of the difference between the maximum and minimum moving speeds is recorded as the moving smoothness of the missed monitoring target.

[0030] The values ​​of preset motion stability and preset motion separation are easily understood to be determined by the user's higher requirements for electromagnetic shielding effectiveness monitoring; a larger preset motion stability value and a smaller preset motion separation value are used. This paper provides a method for determining the preset motion stability and preset motion separation values, extracting the motion stability and motion separation values ​​that meet historical operating conditions for electromagnetic shielding effectiveness. The rule removes outliers from the moving average stability and moving average separation, and records the average values ​​of the moving average stability and moving average separation after removing outliers as the preset values ​​of the moving average stability and moving average separation, respectively.

[0031] Specifically, the task setting unit acquires the motion separation degree of a single missed monitoring target by performing several sub-separation degree detections and recording the average value of the sub-separation degree as the motion separation degree. The detection of single sub-separation is as follows: a circular region is constructed with the missed monitoring target as the center, which is denoted as the cluster reference range. The average distance between the missed monitoring target and other missed monitoring targets within the cluster reference range is detected and denoted as the sub-separation. The radius of the cluster reference range is a preset radius.

[0032] The value of the preset radius is larger when the user has higher requirements for the accuracy of motion separation. It can be understood that the larger the value of the preset radius, the larger the cluster reference range corresponding to the missed monitoring target. The cluster reference range may include more missed monitoring targets, thereby making the obtained motion separation more accurate. This invention provides a preset radius value of 65m.

[0033] Specifically, for a single monitoring target, the monitoring and analysis unit determines that the monitoring mode of the UAV is fixed tracking monitoring, and determines the sampling frequency based on the stability of movement; The sampling frequency is negatively correlated with the motion smoothness.

[0034] Sampling frequency = reference sampling frequency × (preset motion stability / motion stability); The higher the user's requirement for the accuracy of electromagnetic shielding performance monitoring, the larger the value of the reference sampling frequency. Extract the sampling frequency that meets the historical working conditions for electromagnetic shielding performance monitoring accuracy, remove outliers from the sampling frequency, and record the average value of the sampling frequency after removing outliers as the reference sampling frequency.

[0035] Specifically, the monitoring and analysis unit determines that the monitoring mode of the UAV is patrol monitoring for multiple monitoring targets. During patrol monitoring, the UAV moves according to the patrol path to monitor the electromagnetic shielding effectiveness of missed monitoring targets within the UAV's monitoring range. After completing a single patrol along the patrol path, the UAV will return to the multi-monitoring target corresponding to the starting detection point and repeat the patrol monitoring using the patrol path as its flight trajectory.

[0036] Specifically, the monitoring and analysis unit determines the patrol path for a single multi-monitoring target, including: The time urgency of each missed monitoring target within the monitoring target cluster is detected, and the missed monitoring target with the highest time urgency is recorded as the starting patrol point. A patrol path is constructed using the location of the missed monitoring target as the starting detection point. The flight distance between the starting detection point and other missed monitoring targets within the monitoring target cluster that are not recorded in the patrol path is detected. The missed monitoring target with the shortest flight distance is recorded in the patrol path and set as the new starting patrol point. The above execution steps are repeated until all missed monitoring targets within the monitoring target cluster are recorded in the patrol path, thus obtaining the patrol path.

[0037] Each missing monitoring target within the monitoring target cluster includes these multiple monitoring targets.

[0038] Specifically, the dispatch adjustment unit determines the interference coefficient based on the spacing fluctuation of the avoidance zone, and responds to environmental interference conditions where the interference coefficient is greater than the preset interference coefficient, and determines to increase the reference interval duration for the UAV. The adjustment range of the reference interval duration is positively correlated with the interference coefficient; The interference coefficient is positively correlated with the spacing fluctuation.

[0039] Interference coefficient = Spacing fluctuation / Preset spacing fluctuation, Spacing fluctuation ,in, Let m be the average distance between the avoidance zones during the h-th detection, and m be the number of detections within the baseline interval. It's easy to understand that... The avoidance zone is the area corresponding to the monitoring range of the existing drones in the target area. The monitoring range corresponding to a single drone is recorded as a sub-avoidance zone. The average value of the minimum distance between each sub-avoidance zone and other sub-avoidance zones is recorded as the average distance between avoidance zones.

[0040] The distance between avoidance zones is detected several times within a reference interval to obtain the interference coefficient. The number of detections is determined by the user's requirements for the electromagnetic shielding effectiveness of the drone. The higher the user's requirements for the monitoring effect of the drone's electromagnetic shielding effectiveness, the greater the number of detections within the reference interval. In this invention, the number of detections within the reference interval is 8.

[0041] The value of the preset spacing fluctuation is larger when the user has higher requirements for the accuracy of electromagnetic shielding performance monitoring. The spacing fluctuation reflects the change in the spacing between each missed monitoring target within the cluster reference range during the movement process. This avoids the interference coefficient from being dynamically changed due to the movement of the UAV during the electromagnetic shielding performance monitoring process, which would lead to the determination of the interference coefficient not conforming to the actual situation. This improves the rationality of the adjustment of the reference interval duration. In this invention, the preset spacing fluctuation is 24.

[0042] The adjusted reference interval duration = reference interval duration × (interference coefficient / preset interference coefficient); the value of the preset interference coefficient is larger if the user has a higher tolerance for the influence of the interference coefficient on the reference interval duration. The interference coefficient represents the distribution of existing drones in the target area. If the drones performing the task are relatively clustered, considering that drones will be affected by other drones during the electromagnetic shielding effectiveness monitoring process, the reference interval duration is increased to reduce the influence between drones and other drones, thereby improving the electromagnetic shielding effectiveness monitoring effect of drones. In this invention, the preset interference coefficient is 0.6.

[0043] Specifically, the dispatch adjustment unit responds to flight conflict events where the coverage fluctuation is greater than the preset coverage fluctuation and determines to reduce the adjustment for the preset radius; The adjustment range of the preset radius is positively correlated with the coverage fluctuation.

[0044] The line connecting two adjacent missed monitoring targets constitutes a sub-circuit path. It can be understood that a circuit path includes several sub-circuit paths. A single sub-circuit path is a path vector with the minimum distance between two adjacent missed monitoring targets as its length and its direction pointing from the starting point to the missed monitoring target. The sub-circuit path containing the first starting point is denoted as the 1st sub-circuit path. For the (g+1)th sub-circuit path, the angle between its corresponding vectors is the angle formed by this path vector and the g-th path vector. Coverage fluctuation = the number of path vectors whose angle between two adjacent path vectors is greater than a preset angle / The number of sub-circuit paths and the value of the preset angle are related to the user's requirements for the monitoring efficiency of the UAV. The higher the user's requirements for the monitoring efficiency of the UAV, the smaller the value of the preset angle. It can be understood that the angle between two adjacent path vectors represents the density of the sub-circuit paths. If the density of the sub-circuit paths is higher, the coverage area of ​​the UAV will be more concentrated during the flight of the UAV with the circuit path as the flight trajectory. Therefore, the preset radius is reduced to narrow the range of the monitoring target cluster, thereby improving the monitoring efficiency of the UAV. This invention provides a preset angle value, in which the preset angle is 90°.

[0045] The preset value of coverage fluctuation is determined by the user's higher requirements for the accuracy of electromagnetic shielding performance monitoring. The higher the value of the preset coverage fluctuation, the smaller the value. Coverage fluctuation represents the monitoring difficulty of the UAV when monitoring each missed monitoring target within the cluster reference range. If the frequency of UAV directional changes is large, it indicates that the UAV faces greater difficulties in monitoring the electromagnetic shielding performance of each missed monitoring target. Therefore, by reducing the area of ​​the cluster reference range, efficient monitoring by the UAV can be achieved, avoiding any monitoring omissions.

[0046] Specifically, the early warning unit issues a Class I early warning through the ground receiving station for missed monitoring targets whose shielding effectiveness is less than the benchmark shielding effectiveness.

[0047] For missed monitoring targets whose shielding effectiveness is greater than or equal to the benchmark shielding effectiveness, the data collected by the UAV is directly uploaded and saved to the data storage module of the ground receiving station.

[0048] The drone carries a measurement system that collects data and uploads it to a ground receiving station to calculate the shielding effectiveness. ; For reference field strength, The leakage field strength is used as the reference field strength and the leakage field strength. The reference field strength and the leakage field strength are directly acquired by the electric field probe carried by the UAV. The reference field strength represents the standard electromagnetic field of a specific frequency and power, and the leakage field strength represents the actual field strength of a specific point on the surface of the missed monitoring target under the same incident field. The flight altitude and probe direction of the UAV corresponding to the reference field strength and the leakage field strength are kept the same. For missed monitoring targets with shielding effectiveness greater than or equal to the reference shielding effectiveness, the early warning unit directly uploads and saves the data collected by the UAV to the data storage module of the ground receiving station. The acquisition method of the reference field strength and the leakage field strength is easy for those skilled in the art to understand and will not be described in detail here. One type of early warning is to remind the user that the shielding effectiveness of the missed monitoring target has failed.

[0049] The value of the reference shielding effectiveness is determined by the user's requirements for the electromagnetic shielding effectiveness of the missed monitoring targets. The higher the requirement for the electromagnetic shielding effectiveness, the larger the value of the reference shielding effectiveness. This invention provides a reference shielding effectiveness value of 70dB for a 100MHz communication signal at a fixed signal frequency.

[0050] Specifically, the early warning unit sends a Class II early warning through the ground receiving station for missed monitoring targets whose data reliability exceeds the preset data reliability. The data reliability is defined as the variance of the shielding effectiveness determined by each UAV that has completed data collection for a missed monitoring target.

[0051] For missed monitoring targets whose data credibility is less than or equal to the preset data credibility, the data collected by the UAV is directly uploaded and saved to the data storage module of the ground receiving station.

[0052] Data credibility ;in, For the shielding effectiveness obtained by the i-th drone, This represents the average shielding effectiveness of the missed target acquired by n drones, where n is the number of drones that completed data collection for the missed target. A preset data reliability score is set; the higher the user's monitoring accuracy requirements for the missed target, the lower the preset data reliability score. The data reliability score reflects the difference in electromagnetic shielding effectiveness of different drones for the same missed target. A large difference indicates a significant discrepancy in the data collected by different drones. The second type of warning alerts the user to a current monitoring accuracy issue.

[0053] The technical solution of the present invention has been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the scope of protection of the present invention.

Claims

1. An online monitoring and alarm system for electromagnetic shielding effectiveness on unmanned aerial vehicles (UAVs), characterized in that, include: The task setting unit is used to periodically set tasks based on a reference interval and determine the missing monitoring targets corresponding to the UAV according to the time urgency. The monitoring and analysis unit, which is connected to the task setting unit, is used to determine the monitoring category of the missed monitoring target based on the movement stability and movement separation, and to determine the monitoring mode of the UAV as fixed tracking monitoring or patrol monitoring based on the monitoring category of the missed monitoring target. The dispatch adjustment unit is connected to the task setting unit and the monitoring and analysis unit respectively, and is used to determine whether the reference interval of the UAV needs to be adjusted according to the interference coefficient, and to adjust the cluster reference range according to the coverage fluctuation. The early warning unit is connected to the task setting unit, the monitoring and analysis unit, and the dispatch and adjustment unit, respectively, and is used to determine whether to send a Class I early warning based on the shielding effectiveness, and whether to send a Class II early warning based on the data reliability.

2. The online monitoring and alarm system for electromagnetic shielding effectiveness of unmanned aerial vehicles according to claim 1, characterized in that, The task setting unit determines the monitoring category of the missed monitoring targets, including: Missed monitoring targets with a motion stability less than or equal to the preset motion stability or a motion separation greater than the preset motion separation are identified as single monitoring targets. Missing monitoring targets with a motion stability greater than the preset motion stability and a motion separation less than or equal to the preset motion separation are identified as multiple monitoring targets.

3. The online monitoring and alarm system for electromagnetic shielding effectiveness of unmanned aerial vehicles according to claim 2, characterized in that, The task setting unit acquires the motion separation for a single missed monitoring target by performing several sub-separation detections and recording the average of the sub-separation as the motion separation. The detection of single sub-separation is as follows: a circular region is constructed with the missed monitoring target as the center, which is denoted as the cluster reference range. The average distance between the missed monitoring target and other missed monitoring targets within the cluster reference range is detected and denoted as the sub-separation. The radius of the cluster reference range is a preset radius.

4. The online monitoring and alarm system for electromagnetic shielding effectiveness of unmanned aerial vehicles according to claim 2, characterized in that, For a single monitoring target, the monitoring and analysis unit determines that the UAV's monitoring mode is fixed tracking monitoring and determines the sampling frequency based on the stability of movement; The sampling frequency is positively correlated with the motion smoothness.

5. The online monitoring and alarm system for electromagnetic shielding effectiveness of unmanned aerial vehicles according to claim 3, characterized in that, For multiple monitoring targets, the monitoring and analysis unit determines that the monitoring mode of the UAV is patrol monitoring. In patrol monitoring, the UAV moves according to the patrol path to monitor the electromagnetic shielding effectiveness of missed monitoring targets within the UAV's monitoring range. After completing a single patrol along the patrol path, the UAV will return to the multi-monitoring target corresponding to the starting detection point and repeat the patrol monitoring using the patrol path as its flight trajectory.

6. The online monitoring and alarm system for electromagnetic shielding effectiveness of unmanned aerial vehicles according to claim 5, characterized in that, The monitoring and analysis unit determines the patrol path for a single multi-monitoring target, including: The time urgency of each missed monitoring target within the monitoring target cluster is detected, and the missed monitoring target with the highest time urgency is recorded as the starting patrol point. A patrol path is constructed using the location of the missed monitoring target as the starting detection point. The flight distance between the starting detection point and other missed monitoring targets within the monitoring target cluster that are not recorded in the patrol path is detected. The missed monitoring target with the shortest flight distance is recorded in the patrol path and set as the new starting patrol point. The above execution steps are repeated until all missed monitoring targets within the monitoring target cluster are recorded in the patrol path, thus obtaining the patrol path.

7. The online monitoring and alarm system for electromagnetic shielding effectiveness of unmanned aerial vehicles according to claim 1, characterized in that, The dispatch adjustment unit determines the interference coefficient based on the spacing fluctuation of the avoidance zone, and responds to environmental interference conditions where the interference coefficient is greater than the preset interference coefficient, and determines to increase the reference interval duration for the UAV. The adjustment range of the reference interval duration is positively correlated with the interference coefficient; The interference coefficient is positively correlated with the spacing fluctuation.

8. The online monitoring and alarm system for electromagnetic shielding effectiveness of unmanned aerial vehicles according to claim 5, characterized in that, The dispatch adjustment unit responds to flight conflict events where the coverage fluctuation is greater than the preset coverage fluctuation, and determines to reduce the adjustment for the preset radius. The adjustment range of the preset radius is positively correlated with the coverage fluctuation.

9. The online monitoring and alarm system for electromagnetic shielding effectiveness of unmanned aerial vehicles according to claim 1, characterized in that, The early warning unit issues a Class I early warning through the ground receiving station for missed monitoring targets whose shielding effectiveness is less than the benchmark shielding effectiveness.

10. The online monitoring and alarm system for electromagnetic shielding effectiveness of unmanned aerial vehicles according to claim 1, characterized in that, The early warning unit sends a Class II early warning through the ground receiving station for missed monitoring targets whose data reliability exceeds the preset data reliability level; The data reliability is defined as the variance of the shielding effectiveness determined by each UAV that has completed data collection for a missed monitoring target.

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