Antenna for carrying out electromagnetic radiation and receiving by utilizing rotary wings of unmanned aerial vehicle and design method of antenna

Abstract

The invention discloses an antenna for carrying out electromagnetic radiation and receiving by using a rotary wing of an unmanned aerial vehicle and a design method thereof, and the method comprises the steps: 101, carrying out the modeling of a rotor-antenna conformal structure, and building a rotor-antenna integrated three-dimensional parameterized model; 102, designing a rotary conduction feed structure, and designing a high-speed coaxial rotary joint according to impedance continuity, mode integrity and isolation indexes of a static end and a moving end; 103, carrying out time-varying electromagnetic modeling and optimization analysis; 104, carrying out multi-rotor collaborative design, and coordinating the phase and angle relationship of each rotor; and 105, implementing and verifying. The arrangement form of the antenna array on the unmanned aerial vehicle is innovatively provided, the antenna is deployed by highly utilizing the structure of the unmanned aerial vehicle, the formed array can realize the functions of enhancing communication, navigation interference resistance and the like of the unmanned aerial vehicle by utilizing rotation information, and the unmanned aerial vehicle can be effectively controlled under the condition that the aerodynamic performance and the structure of the unmanned aerial vehicle are not influenced. And the integration level and the stability of the unmanned aerial vehicle electromagnetic system are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of multi-rotor unmanned aerial vehicles, and particularly relates to an antenna using a rotating wing of an unmanned aerial vehicle to emit and receive electromagnetic radiation and a design method thereof. BACKGROUND

[0002] With the rapid development of unmanned aerial vehicles in the fields of military-civilian integration, logistics inspection, emergency rescue and scientific surveying and mapping, the demand for airborne radio frequency capabilities, including communication links, measurement and control, navigation and load data transmission, is continuously increasing. Due to the size, weight and power consumption (SWaP) constraints of small platforms, the deployment of traditional unmanned aerial vehicle antennas often brings obvious aerodynamic drag and structural modification costs; at the same time, the rotation of the rotor and the shielding of the arm will introduce complex near-field coupling and scattering, resulting in distortion of the radiation pattern, polarization instability and efficiency decline, thereby affecting the stability of the link and the reliability of the system.

[0003] At present, the mainstream deployment methods of unmanned aerial vehicle antennas can be summarized as follows, and their essence has not deviated from the "static" or "limited dynamic" paradigm:

[0004] Fixed installation: the antenna is fixed on the fuselage, landing gear or rotor arm, etc. This method is simple in structure, but the antenna is easily shielded and electromagnetically interfered by the metal structure of the fuselage, battery compartment and other equipment, resulting in distortion of the signal radiation pattern and communication blind area.

[0005] Local adjustable installation: in order to improve signal reception, some schemes try to give the antenna certain activity. However, the movement range and effect of the antenna in this type of scheme are still limited, and the movement of the antenna is based on the local adjustment of the unmanned aerial vehicle body platform, and the movement speed and range of the antenna are completely irrelevant to the high-speed rotating rotor.

[0006] The current unmanned aerial vehicle antenna technology field lacks a feasible scheme that can effectively solve the problem of continuous, stable and low-loss radio frequency signal feeding of the antenna in the high-speed rotating state of the rotor blade, while using the rotation information to improve the degree of freedom of the algorithm parameters. The existing static deployment and body dynamic adjustment schemes have not been able to break through this fundamental limitation. Therefore, there is an urgent need for an innovative, high-speed rotating environment designed feedable rotating antenna device, so as to unlock the great potential of the rotor as an antenna carrier, thereby improving the link quality and platform versatility without significantly increasing the hardware complexity, adapting to multiple scenarios such as communication, measurement and control, navigation and remote sensing. This is the starting point and core technical problem to be solved of the present application.

[0007] As an application example, in weak signal scenarios such as satellite navigation, the antenna design on the rotor, combined with the additional degrees of freedom provided by rotation, can be integrated with existing anti-interference / anti-multipath processing strategies: rotation effectively expands the degrees of freedom for spatial suppression, facilitating the formation of deep nulls and directional adaptation; rotation-induced periodic Doppler and phase modulation help distinguish between direct and reflected paths, thereby improving robustness in complex electromagnetic environments. However, unlike the traditional "algorithm-first" approach, this invention emphasizes starting from antenna electromagnetic design methods, systematically incorporating rotor motion into radiation mechanisms and optimization processes, and providing a unified design and implementation framework for various UAV RF missions. Summary of the Invention

[0008] To address the technical problems existing in the prior art, this invention provides an antenna design method and device for electromagnetic radiation and reception using the rotating wings of a UAV. It innovatively proposes an antenna array arrangement on the UAV, making full use of the UAV's own structure to deploy the antenna. The resulting array can use rotational information to enhance the UAV's communication, navigation, and anti-interference functions. Without affecting the UAV's aerodynamics and structure, it improves the integration and stability of the UAV's electromagnetic system.

[0009] The method of this invention is implemented using the following technical solution: an antenna design method for electromagnetic radiation and reception using the rotating wings of a UAV, comprising the following steps:

[0010] Step 101: Perform conformal modeling of rotor-antenna structure, establish an integrated three-dimensional parametric model of rotor-antenna, define and design radiator position, wiring layer, grounding layer and impedance matching network according to the parametric model, and meet the constraints of aerodynamic shape maintenance, structural strength and electromagnetic compatibility boundary of the body.

[0011] Step 102: Design a rotating conduction feeding structure. Based on the coaxial waveguide structure, add a choke slot to the coaxial waveguide to make the rotor and stator physically non-contact. The open circuit is transformed into a short circuit through half-wavelength impedance to ensure electrical continuity. Design a high-speed coaxial rotating joint based on the static and dynamic end impedance continuity, mode integrity, and isolation index. Connect the rotor conformal radiation layer to meet the design requirements for bearing speed and torque, life and wear, and vibration resistance and sealing, so as to integrate the dynamic electromagnetic radiation transmission structure.

[0012] Step 103: Use electromagnetic simulation software and coding software to perform time-varying electromagnetic modeling and optimization analysis, introduce rotor angle and rotation speed into time-varying boundary conditions, calculate instantaneous and periodic average radiation patterns, polarization and efficiency, and achieve the predetermined electromagnetic indicators through multi-objective and multi-condition optimization.

[0013] Step 104: Perform multi-rotor collaborative design, obtain the phase angle information of each rotor through the motor controller, coordinate the phase and angle relationship of each rotor through the algorithm, form a quasi-omnidirectional, low sidelobe or directional enhancement system-level radiation mode, and suppress the influence of mutual coupling and airframe scattering.

[0014] Step 105: Implement and verify the prototype, complete the prototype processing and dynamic balancing, conduct darkroom and field flight tests to verify the radiation pattern and polarization index, and optimize the design through closed-loop iteration based on the test results, and finally mount it on the UAV for actual functional testing.

[0015] The device of this invention is implemented using the following technical solution: an antenna device for electromagnetic radiation and reception using the rotating wings of a UAV, comprising an antenna, blades, a motor, a rotating joint, a power supply port, and a rotor arm; the antenna is attached to the upper surface of the blade for installation, the blade is fixed above the electromechanical unit, and the radio frequency cable is connected to the rotating joint for power supply; the antenna, blades, motor, and rotating joint are arranged as a whole on the rotor arm to form an array unit, the power supply port is located below the rotating joint and connected to the fuselage through wiring inside the arm; after the four rotor arms are installed, a rotor conformal antenna array is formed.

[0016] Preferably, the antenna consists of a printed feed line, a radiating patch, a dielectric substrate, and a ground plane, with the printed feed line and radiating patch located on the top layer or in the dielectric substrate interlayer, and the ground plane located on the bottom layer.

[0017] Preferably, the antennas are made of PI epoxy resin flexible material, and the rest are made of copper foil.

[0018] Preferably, both the rotary joint and the motor include a rotor and a stator. The rotor part of the rotary joint is screwed to the motor rotor via a metal disc for rigid coaxial linkage. The stator part of the rotary joint is screwed to the motor stator via a metal shell and fixed on the rotor arm to remain stationary. A power supply matching network is provided on the rotor side of the rotary joint for adapting the blade antenna, and a threaded structure is provided on the top of the motor.

[0019] Preferably, the blades are fixed above the motor by a threaded structure, and the radio frequency cable is connected to the rotating joint through the hollow channel of the threaded structure to achieve power supply.

[0020] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0021] 1. This invention innovatively proposes an antenna array arrangement for UAVs, which makes great use of the UAV's own structure to deploy antennas. The resulting array can use rotation information to enhance the UAV's communication, navigation, and anti-interference functions, thereby improving the integration and stability of the UAV's electromagnetic system without affecting the UAV's aerodynamics and structure.

[0022] 2. This invention uses the rotor blade as an antenna carrier, introduces the time-varying degree of freedom generated by the rotor rotation, constructs an integrated electromagnetic model of rotor-antenna, and solves the instantaneous and periodic average radiation characteristics based on the time-varying boundary conditions synchronized with the rotor angle, so as to realize the radiation and reception of electromagnetic signals in the rotating state.

[0023] 3. To adapt to rotating conditions, this invention can be equipped with a rotating conduction power supply structure to achieve stable signal output when rotating to a standstill.

[0024] 4. This invention is not limited to the field of satellite navigation antennas, but is also applicable to various radio frequency antenna application scenarios such as communication, telemetry and control, and remote sensing. Without significantly increasing the aerodynamic shape and weight, it improves link stability and environmental adaptability, while taking into account anti-interference and anti-multipath performance, making it easy to promote and deploy on multi-rotor platforms. Attached Figure Description

[0025] Figure 1 This is a flowchart of the method of the present invention;

[0026] Figure 2 This is an overall structural diagram of the UAV antenna device in this embodiment;

[0027] Figure 3 This is a structural diagram of the conformal antenna for the rotor blades in this embodiment;

[0028] Figure 4 This is a structural diagram of the high-speed rotary joint in this embodiment;

[0029] Figure 5 This is a diagram of the integrated electromagnetic radiation and receiving structure of this embodiment;

[0030] In the diagram, 1 is the printed feed line, 2 is the radiating patch, 3 is the dielectric substrate, 4 is the ground plane, 5 is the rotary joint rotor section, 6 is the metal disk, 7 is the motor rotor, 8 is the rotary joint stator section, 9 is the metal housing, 10 is the motor stator, 11 is the power supply matching network, 12 is the threaded structure, 13 is the antenna, 14 is the blade, 15 is the motor, 16 is the rotary joint, 17 is the power supply port, and 18 is the rotor arm. Detailed Implementation

[0031] The present invention will be further described in detail below with reference to the embodiments and accompanying drawings, but the embodiments of the present invention are not limited thereto.

[0032] Example

[0033] like Figure 1 As shown in the figure, this embodiment describes an antenna design method for electromagnetic radiation and reception using the rotating wings of a UAV, which includes the following steps:

[0034] Step 101: Perform conformal modeling of rotor-antenna structure, establish an integrated three-dimensional parametric model of rotor-antenna, define and design radiator position, wiring layer, grounding layer and impedance matching network according to the parametric model, and meet constraints such as aerodynamic shape maintenance, structural strength and electromagnetic compatibility boundary of the body.

[0035] Step 102: Design a rotating conduction feeding structure. Based on the coaxial waveguide structure, add a choke slot to the coaxial waveguide to achieve physical non-contact between the rotor and stator. Ensure electrical continuity by converting the open circuit to a short circuit through half-wavelength impedance transformation. Design a high-speed coaxial rotating joint based on indicators such as static and dynamic end impedance continuity, mode integrity, and isolation. Connect the conformal radiation layer of the rotor to meet the design requirements for bearing speed and torque, life and wear, and vibration resistance and sealing, and realize the integration of dynamic electromagnetic radiation transmission structure.

[0036] Step 103: Use electromagnetic simulation software and coding software to perform time-varying electromagnetic modeling and optimization analysis, introduce rotor angle and rotation speed into time-varying boundary conditions, calculate instantaneous and periodic average radiation patterns, polarization and efficiency, and achieve the predetermined electromagnetic indicators through multi-objective and multi-condition optimization.

[0037] Step 104: Perform multi-rotor collaborative design. Obtain the phase angle information of each rotor through the motor controller. Coordinate the phase and angle relationship of each rotor through the algorithm to form a system-level radiation mode such as quasi-omnidirectional, low sidelobe or pointing enhancement, while suppressing the influence of mutual coupling and airframe scattering.

[0038] Step 105: Implement and verify the prototype, complete the prototype processing and dynamic balancing, conduct darkroom and field flight tests to verify the radiation pattern, polarization and other indicators, and optimize the design through closed-loop iteration based on the test results, and finally mount it on the UAV for actual functional testing.

[0039] Specifically, in this embodiment, the specific process of step 101 is as follows:

[0040] Based on the aerodynamic shape curve of the rotor, a parametric surface model is constructed in CAD software.

[0041] Define the location of the radiator, the routing layers, and the grounding layer arrangement on the model, and design the impedance matching network;

[0042] The entire design process requires multi-physics coupling simulation and iterative optimization under constraints such as electromagnetic performance, aerodynamic shape, structural strength and electromagnetic compatibility.

[0043] Specifically, traditional conformal antennas are mostly attached to static or low-speed rotating parts, such as fuselages. However, this invention is designed for high-speed rotating rotors. Its modeling must strictly consider the impact of vibration on the antenna structure and performance, and use structural deformation as a prerequisite input condition for electromagnetic simulation to achieve integrated electromechanical design.

[0044] Specifically, traditional antenna simulation is usually based on static, isolated models, while in this embodiment, step 103 introduces "motion" as a core variable into electromagnetic simulation, exports the static results of conventional simulation, and writes an algorithm for further dynamic simulation; the instantaneous values ​​and periodic average values ​​of antenna parameters such as radiation pattern, polarization, and gain are calculated through simulation, and based on this, the antenna design is optimized in combination with optimization algorithms.

[0045] Specifically, each rotor integrates an antenna. The radiation state of multiple rotors on the UAV is obtained through simulation. In step 104, the central controller acquires the real-time rotation phase information of each rotor and controls the excitation amplitude and phase relationship of each radiation unit, i.e. the rotor antenna, through a specific phase synchronization and beamforming algorithm, thereby synthesizing the expected radiation pattern at the system level.

[0046] Specifically, traditional methods either use independent antenna arrays or static conformal arrays; while this embodiment uses multiple high-speed rotating, spatially distributed motion units to form a dynamic array. Its beamforming and control algorithm must compensate for the rapid changes in rotor position and phase in real time, which is a dynamic, distributed aperture beamforming technology.

[0047] Specifically, the process of step 105 includes:

[0048] Fabricate an integrated rotor-antenna prototype and perform rigorous dynamic balancing calibration;

[0049] Its radiation performance under static and rotating conditions was tested in a microwave anechoic chamber;

[0050] The prototype was installed on a drone platform and subjected to actual field flight tests to verify its radiation pattern and polarization performance in a real environment.

[0051] The design is optimized through closed-loop iteration based on test data.

[0052] Specifically, traditional antenna verification is mostly completed under static or ground simulation conditions, while the verification system in this embodiment must include two key steps: "rotation test" and "real flight dynamic test" to verify the antenna's real performance in complex dynamic environments.

[0053] Specifically, in this embodiment, during transmission, the signal is transmitted via a coaxial cable and a coaxial rotary joint in TEM mode. The coaxial waveguide within the joint, combined with a quarter-wavelength choke, achieves mechanical non-contact while maintaining electrical continuity and high-impedance isolation. Because the TEM field is fully symmetrical about the orientation and its geometric parameters do not change with the rotation angle, the transmission scattering parameters are independent of rotation. The rotor speed is much lower than the carrier frequency; for example, the frequency shift Δf≈(v / c)fc corresponding to the blade tip speed v is only on the order of several hundred hertz, which is approximately constant for the RF link, allowing the antenna to radiate stably. Based on reciprocity, the receiving process is completely equivalent to the transmitting process, with the energy path reversed. Therefore, the rotary joint can be equivalently represented in the system design as two ports with low insertion loss and angle independence, thus supporting the aforementioned integrated modeling and optimization method.

[0054] Specifically, in this embodiment, based on the conformal geometry and materials of the rotor-antenna determined in step 101, the rotor radiating sub-assemblies and matching networks are solidified; based on step 102, the rotating conduction feed structure is completed, including the selection and parameter determination of rotating joints, slip rings, or coupled feeds, to ensure impedance continuity and reliable shielding; the time-varying simulation and multi-objective optimization outputs from step 103, including dimensions, feed points, ground slots, and rotational speed ranges, are directly used as the electromagnetic parameter set; based on step 104, the phase calibration and attitude synchronization interface for multi-rotor collaboration is configured to form a system-level radiation mode; and prototype manufacturing, dynamic balancing, and anechoic chamber and field verification are completed according to the process and testing specifications in step 105.

[0055] According to the design method of this embodiment, each element of the array consists of an antenna mounted on each rotor blade. Since the antenna rotates coaxially with the blade, the feeding method needs to be redesigned according to the "rotational conduction feeding structure design": the rotary joint, as the radio frequency transmission device between the stationary end and the rotating end, is a necessary component for reliably feeding the blade antenna. The rotary joint is coaxially arranged below the original motor; however, because it occupies the central shaft channel of the motor, which cannot be satisfied by a conventional non-hollow motor, it is replaced with a hollow motor of equivalent performance, and the rotary joint is coaxially integrated with the motor to replace its original position. The blade is fixed to this motor.

[0056] The antenna needs to be mounted on the rotor blades, which are typically long, thin, and twisted curved surfaces. Therefore, the antenna shape should match this by being elongated and conformally attachable. Furthermore, to meet aerodynamic and SWaP constraints, its profile should be as low as possible. The specific structure can be adjusted according to the operating frequency band and gain target, and is not fixed. This embodiment only illustrates the design of a navigation antenna. While ensuring the aerodynamic shape of the UAV rotor, the type, size, frequency band, polarization, application scenario, etc., of the antenna are not constrained and do not exceed the scope declared in this invention. Considering all factors, this embodiment adopts a low-profile conformal scheme, generally using a microstrip dipole to achieve the above requirements.

[0057] Based on the methodological concept of this invention, such as Figure 2As shown, an antenna device for electromagnetic radiation and reception using the rotating wings of a UAV is proposed, including an antenna 13, blades 14, a motor 15, a rotating joint 16, a feed port 17, and a rotor arm 18. The antenna is attached to the upper surface of the blade for installation, the blade is fixed above the motor, and the radio frequency cable is connected to the rotating joint for power supply. The antenna, blades, motor, and rotating joint are arranged as a whole on the rotor arm to form an array unit. The feed port is located below the rotating joint and is connected to the fuselage through wiring inside the arm. After the four rotor arms are installed, a rotor conformal antenna array is formed.

[0058] Specifically, such as Figure 3 As shown, the radiating element is a patch antenna unit, consisting of six layers from top to bottom: a radiating patch layer, a dielectric substrate layer, a microstrip transmission line layer, a dielectric substrate layer, a parasitic patch layer, and a ground plane layer. The antenna comprises a printed feed line 1, a radiating patch 2, a dielectric substrate 3, and a ground plane 4. The printed feed line and radiating patch are located on the top layer or in the dielectric substrate sandwich layer, while the ground plane is located on the bottom layer. The antenna dielectric is made of PI epoxy resin flexible material, which facilitates conformal design with mainstream UAV blades, and the remaining parts are made of copper. Thanks to the isolation of the ground plane layer, the antenna performance is basically unaffected by the blade material. The antenna proposed in this embodiment covers the navigation frequency band, achieving VSWR < 2 in both the GPS L1 (1.575 GHz) and BDS B1 (1.561 GHz) bands. During transmission, the patch radiates electromagnetic energy into space, and during reception, it collects electromagnetic signals from space.

[0059] Specifically, such as Figure 4 As shown, both the rotary joint and the motor include rotors and stators. The rotor portion 5 of the rotary joint is screwed to the motor rotor 7 via a metal disc 6, achieving rigid coaxial linkage. The stator portion 8 of the rotary joint is screwed to the motor stator 10 via a metal housing 9 and fixed to the rotor arm 18 to maintain a stationary position. To achieve impedance continuity and mode integrity at both the stationary and moving ends, a feed matching network 11 is provided on the rotor side of the rotary joint to adapt to the blade antenna. A threaded structure 12 is provided above the motor, ultimately achieving the desired effect. Figure 5 The integrated electromagnetic radiation and receiving structure is shown.

[0060] Specifically, in this embodiment, the blade is fixed above the motor by a threaded structure, and the radio frequency cable is connected to the rotating joint through the hollow channel of the threaded structure to achieve power supply.

[0061] In this embodiment, a time-varying full-wave model is established, including rotor angular position θ and angular velocity ω. The actual parameters of the coaxial feeder, coaxial rotary joint and its choke, floor layer and flexible medium are introduced according to the standard scheme. The instantaneous radiation pattern, polarization and efficiency are solved jointly, and the average response is taken over one rotation cycle. With VSWR, insertion loss, group delay flatness and periodic average gain fluctuation as objectives, robust multi-objective optimization is carried out in combination with manufacturing tolerances (patch size / medium thickness / groove depth, joint coaxiality and end face runout) to finally determine the parameter set of patch shape and feed point, floor slot, matching network and joint geometry.

[0062] A phase-attitude mapping of array elements is established with the flight control time base and the airframe coordinates as references. The reference phase and amplitude of each array element at θ=0 are measured to obtain the equivalent transfer function of the cable and the rotating joint. The mutual coupling matrix and the airframe scattering compensation coefficient are obtained by anechoic chamber measurement and written into the control module. In the normal navigation mode, equal amplitude and phase are maintained to achieve quasi-omnidirectional coverage. In the anti-interference mode, the amplitude and phase are dynamically adjusted according to the preset or adaptive algorithm to form null and main lobe pointing. At the same time, the weights are updated in real time according to the rotor angle and attitude to ensure that the array maintains a stable equivalent radiation pattern during rotation and maneuvering.

[0063] Finally, the integrated prototype processing and assembly of the flexible patch and hollow motor-rotary joint were completed. Dynamic balancing correction was performed on the added mass on the blade side, and vibration verification of the entire machine was conducted. In the laboratory, full-angle S-parameter and phase fluctuation tests, anechoic chamber far-field measurements under rotating conditions, and polarization consistency assessments were carried out. Subsequently, field flight tests were conducted to compare simulation and calibration data to verify VSWR, insertion loss, and period-average gain in the GPS L1 / BDS B1 band, as well as the stability of the array mode under different speeds and attitudes. If the test results match the simulation, it proves that the rotational joint transmission is independent of the rotation angle, and the array's average radiation pattern and polarization are controllable, meeting the performance and feasibility requirements proposed by the design method of this embodiment.

[0064] The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of the present invention shall be considered equivalent substitutions and shall be included within the protection scope of the present invention.

Claims

1. An antenna design method for electromagnetic radiation and reception using the rotating wings of a UAV, characterized in that, Includes the following steps: Step 101: Perform conformal modeling of rotor-antenna structure, establish an integrated three-dimensional parametric model of rotor-antenna, define and design radiator position, wiring layer, grounding layer and impedance matching network according to the parametric model, and meet the constraints of aerodynamic shape maintenance, structural strength and electromagnetic compatibility boundary of the body. Step 102: Design a rotating conduction feeding structure. Based on the coaxial waveguide structure, add a choke slot to the coaxial waveguide to make the rotor and stator physically non-contact. The open circuit is transformed into a short circuit through half-wavelength impedance to ensure electrical continuity. Design a high-speed coaxial rotating joint based on the static and dynamic end impedance continuity, mode integrity, and isolation index. Connect the rotor conformal radiation layer to meet the design requirements for bearing speed and torque, life and wear, and vibration resistance and sealing, so as to integrate the dynamic electromagnetic radiation transmission structure. Step 103: Use electromagnetic simulation software and coding software to perform time-varying electromagnetic modeling and optimization analysis, introduce rotor angle and rotation speed into time-varying boundary conditions, calculate instantaneous and periodic average radiation patterns, polarization and efficiency, and achieve the predetermined electromagnetic indicators through multi-objective and multi-condition optimization. Step 104: Perform multi-rotor collaborative design, obtain the phase angle information of each rotor through the motor controller, coordinate the phase and angle relationship of each rotor through the algorithm, form a quasi-omnidirectional, low sidelobe or directional enhancement system-level radiation mode, and suppress the influence of mutual coupling and airframe scattering. Step 105: Implement and verify the prototype, complete the prototype processing and dynamic balancing, conduct darkroom and field flight tests to verify the radiation pattern and polarization index, and optimize the design through closed-loop iteration based on the test results, and finally mount it on the UAV for actual functional testing.

2. The antenna design method for electromagnetic radiation and reception using the rotating wings of a UAV according to claim 1, characterized in that, The specific process of step 101 is as follows: Based on the aerodynamic shape curve of the rotor, a parametric surface model is constructed in CAD software. Define the location of the radiator, the routing layers, and the grounding layer arrangement on the model, and design the impedance matching network; The entire design process requires multi-physics coupling simulation and iterative optimization under constraints of electromagnetic performance, aerodynamic shape, structural strength and electromagnetic compatibility.

3. The antenna design method for electromagnetic radiation and reception using the rotating wings of a UAV according to claim 1, characterized in that, Step 103 introduces "motion" as the core variable into electromagnetic simulation, exports the static results of conventional simulation, and writes an algorithm for dynamic simulation; calculates the instantaneous and periodic average values ​​of antenna pattern, polarization, and gain parameters during the rotation period through simulation, and optimizes the antenna design by combining optimization algorithms.

4. The antenna design method for electromagnetic radiation and reception using the rotating wings of a UAV according to claim 1, characterized in that, In step 104, the central controller acquires the real-time rotation phase information of each rotor and controls the excitation amplitude and phase relationship of each radiation unit through a specific phase synchronization and beamforming algorithm, thereby synthesizing the expected radiation pattern at the system level.

5. The antenna design method for electromagnetic radiation and reception using the rotating wings of a UAV according to claim 1, characterized in that, The specific process of step 105 includes: Fabricate an integrated rotor-antenna prototype and perform rigorous dynamic balancing calibration; Its radiation performance under static and rotating conditions was tested in a microwave anechoic chamber; The prototype was installed on a drone platform and subjected to actual field flight tests to verify its radiation pattern and polarization performance in a real environment. The design is optimized through closed-loop iteration based on test data.

6. An antenna device for electromagnetic radiation and reception using the rotating wings of a UAV, characterized in that, It includes an antenna, blades, motors, rotary joints, a power supply port, and rotor arms. The antenna is attached to the upper surface of the blades for installation, the blades are fixed above the electromechanical components, and the radio frequency cables are connected to the rotary joints for power supply. The antenna, blades, motors, and rotary joints are arranged as a whole on the rotor arms to form an array unit. The power supply port is located below the rotary joints and is connected to the fuselage through wiring inside the arms. After the four rotor arms are installed, a rotor conformal antenna array is formed.

7. An antenna device for electromagnetic radiation and reception using the rotating wings of a UAV according to claim 6, characterized in that, The antenna consists of a printed feed line, a radiating patch, a dielectric substrate, and a ground plane. The printed feed line and radiating patch are located on the top layer or in the dielectric substrate interlayer, and the ground plane is located on the bottom layer.

8. An antenna device for electromagnetic radiation and reception using the rotating wings of a UAV according to claim 7, characterized in that, The antenna dielectric is made of PI epoxy resin flexible material, and the rest is copper foil.

9. An antenna device for electromagnetic radiation and reception using the rotating wings of a UAV according to claim 6, characterized in that, Both the rotary joint and the motor include a rotor and a stator. The rotor of the rotary joint is screwed to the motor rotor via a metal disc for rigid coaxial linkage. The stator of the rotary joint is screwed to the motor stator via a metal shell and fixed to the rotor arm to remain stationary. A power supply matching network is provided on the rotor side of the rotary joint for adapting the blade antenna, and a threaded structure is provided on the top of the motor.

10. An antenna device for electromagnetic radiation and reception using the rotating wings of a UAV according to claim 9, characterized in that, The blades are fixed above the motor by a threaded structure, and the radio frequency cable is connected to the rotating joint through the hollow channel of the threaded structure to achieve power supply.

Images