Three-dimensional thunder and lightning detection device and method and medium

Abstract

The invention provides a thunder and lightning three-dimensional detection device and method and a medium, and the device comprises a thunder and lightning detection sensor which outputs thunder and lightning electromagnetic wave signal intensity and initial thunder and lightning three-dimensional angle data; the attitude detection module is used for monitoring real-time attitude data of the thunder and lightning detection sensor; the data processing compensation control module is used for carrying out real-time combined calibration and rectification on the initial thunder and lightning three-dimensional angle data and the real-time attitude data of the thunder and lightning detection sensor, and outputting thunder and lightning angle data after calibration and rectification; according to the device, the attitude change of the sensor can be continuously monitored in the thunder and lightning detection process through the attitude detection module, and the angle deviation is compensated in real time through the data processing compensation control module, so that the device can adjust the azimuth angle measurement value in real time even if the sensor carrier moves or shakes, the continuity and accuracy of positioning data are ensured, and the accuracy of thunder and lightning detection is improved. The hysteresis of off-line calibration is avoided, the automation of direction angle deviation compensation is realized, and the method is suitable for being deployed on an unattended field station or a mobile platform.

Description

Technical Field

[0001] This invention belongs to the field of lightning monitoring technology, specifically relating to a three-dimensional lightning detection device, method, and medium. Background Technology

[0002] Lightning location systems determine the location of a lightning strike by deploying detection stations at different geographical locations to receive the electromagnetic signals generated by lightning discharges. Currently commonly used lightning location techniques include magnetic orientation method (MDF), time difference of arrival (TOA), and hybrid methods combining both. In the MDF, each detection station uses sensors such as orthogonal magnetic loop antennas to measure the horizontal component of the lightning's return magnetic field, thus obtaining the azimuth of the lightning strike relative to the detection station. The intersection of the azimuths from multiple stations determines the location of the lightning strike. In the TOA, each detection station accurately measures the arrival time of the lightning electromagnetic pulse, and the lightning strike location is calculated using the time difference between multiple stations. To improve positioning accuracy, modern lightning location systems often acquire both azimuth and time of arrival information simultaneously for joint calculation. Therefore, the accuracy of the detection station's measurement of the lightning signal's direction is crucial to the performance of the entire location system.

[0003] However, in practical applications, the direction measurement of lightning detection sensors is easily affected by various factors, leading to deviations. Firstly, there are installation errors: the actual pointing of the sensor antenna may have an initial alignment deviation from the geographic North Pole, and mechanical errors during installation can introduce a fixed azimuth offset. Secondly, the detection station may be located on a non-fixed foundation, such as a vehicle-mounted or ship-mounted mobile lightning detection system, or built on a platform susceptible to vibration. In these cases, the physical orientation of the sensor will change with the movement of the carrier or the shaking of the foundation. Even for fixed sites, long-term ground settlement and wind vibrations can cause the antenna pointing to drift slowly. Furthermore, manufacturing and calibration errors of the sensor itself can also affect direction-finding accuracy. If these azimuth deviations are not corrected in time, the azimuth data provided by the detection station will be inaccurate, thus significantly reducing the accuracy of lightning location results.

[0004] Azimuth deviation has a significant impact on positioning accuracy. For example, in traditional magnetic orientation methods, direction-finding errors are directly converted into positioning errors. Studies have shown that for two-station magnetic orientation with a baseline length of approximately 50 km, a single-station azimuth error of 1° results in a positioning error of approximately 0.87 km; however, when the error increases to 5°, the positioning error can exceed 4 km. This demonstrates that even a few degrees of azimuth deviation can lead to a positioning result offset of several kilometers. Furthermore, when azimuth measurements from multiple stations are biased, the positioning error can accumulate and be amplified. For instance, analysis shows that for two stations a certain distance apart, if their respective azimuth measurement errors are large, the geometric accuracy factor of the convergence positioning will deteriorate, resulting in a further deviation of the positioning result from the true location. Therefore, to ensure the accuracy of lightning positioning systems, it is essential to monitor and correct the azimuth deviation of the sensors at each station.

[0005] In hybrid positioning algorithms, the accuracy of the azimuth angle is also crucial. Hybrid positioning algorithms combine azimuth angle information with time difference of arrival (TDOA) data, optimizing the positioning result through weighted fusion. When the azimuth angle measurement is accurate, it effectively constrains the geometric solution of TDOA positioning, improving positioning accuracy. However, when there is a deviation in the azimuth angle, it not only fails to improve the positioning result but may also introduce additional errors. Studies have shown that in the hybrid positioning process, the impact of azimuth angle error on the final positioning result can be controlled by weighting parameters. However, if the azimuth angle deviation exceeds a certain threshold (usually above 2-3°), even reducing its weight is insufficient to eliminate the negative impact. Furthermore, azimuth angle accuracy is also used by lightning location centers as one of the important indicators for evaluating the performance of detection stations. By comparing the theoretical and measured azimuth of the same lightning event, it can be determined whether the detection station is functioning correctly. Therefore, maintaining high-precision azimuth angle measurement is essential for the overall system performance in lightning detection.

[0006] Currently, the conventional approach to addressing the azimuth deviation of lightning detection sensors is manual calibration during installation and regular maintenance. For example, when deploying a detection station, a compass or satellite orientation device is used to align the magnetic loop antenna with true north to reduce initial azimuth deviation. After a period of operation, the azimuth error of each station is verified and corrected by observing known reference targets (such as distant towers or known lightning strike points). However, this offline calibration method has significant shortcomings: First, these devices have serious limitations in lightning detection environments. Magnetic compasses are easily interfered with by magnetic fields generated by surrounding metal objects, electronic equipment, and power lines, especially in environments like lightning detection stations with numerous electronic devices and signals, where their measurement results are often unstable and inaccurate. While electronic compasses have some anti-interference capabilities, their performance also degrades significantly under conditions of severe vibration or rapid movement. Second, calibration can only be performed at specific moments and cannot track continuous changes in sensor direction in real time. This is particularly problematic for mobile platforms such as vehicles and ships, where direction measurement essentially fails when the platform turns or experiences bumps, rendering lightning azimuth data unusable. Meanwhile, for mobile platforms or sites with significant environmental changes, frequent manual calibration is difficult to implement, and considerable deviations may accumulate between calibrations. Furthermore, manual calibration requires professional personnel, which is costly and untimely. Therefore, current technology lacks an effective means to monitor and dynamically compensate for the azimuth deviation of lightning detection sensors in real time. Summary of the Invention

[0007] To overcome the shortcomings of the prior art, the present invention proposes a three-dimensional lightning detection device, comprising: Lightning detection sensors are used to sense lightning electromagnetic wave signals and output lightning electromagnetic wave signal strength and initial three-dimensional angle data of lightning. An attitude detection module is used to monitor the real-time attitude data of the lightning detection sensor; The data processing compensation control module is used to perform real-time joint calibration and correction on the initial three-dimensional lightning angle data and the real-time attitude data of the lightning detection sensor, and output the calibrated and corrected lightning angle data.

[0008] Preferably, the attitude detection module includes: A nine-axis inertial measurement unit is rigidly connected to the lightning detection sensor and is used to measure the linear acceleration, angular velocity and geomagnetic field direction of the lightning detection sensor in real time. A dual-antenna satellite orientation unit, rigidly connected to the lightning detection sensor, is used to provide a geographic absolute direction reference value; The attitude signal processing unit is used to hierarchically fuse the measurement data of the nine-axis inertial measurement unit and the geographic absolute direction reference value, and output the real-time attitude data of the lightning detection sensor.

[0009] Preferably, the nine-axis inertial measurement unit includes a three-axis accelerometer, a three-axis gyroscope, and a three-axis magnetometer; the measurement axis of the three-axis gyroscope is collinear with the central vertical axis of the lightning detection sensor, and the plane containing the pitch and roll angles of the three-axis gyroscope is parallel to the horizontal plane of the lightning detection sensor.

[0010] Preferably, the dual-antenna satellite orientation unit includes two satellite receiving antennas symmetrically arranged on both sides of the lightning detection sensor, and the direction finding baseline formed by the two satellite receiving antennas is arranged in a coplanar parallel manner with the reference baseline of the lightning detection sensor.

[0011] Preferably, the length of the direction-finding baseline formed by the two satellite receiving antennas is 0.5m to 1.5m.

[0012] Preferably, the lightning detection sensor includes a triaxial orthogonal magnetic ring antenna, an electric field antenna, and a signal processing unit; The triaxial orthogonal magnetic loop antenna is used to sense lightning electromagnetic wave signals and output triaxial induced components. The electric field antenna is mounted on top of the triaxial orthogonal magnetic ring antenna to sense lightning electromagnetic wave signals and output electric field components. The signal processing unit is used to compare the amplitude and detect the phase of the triaxial induction component and the electric field component, and output the lightning electromagnetic wave signal intensity and the initial three-dimensional angle data of the lightning.

[0013] Preferably, the triaxial orthogonal magnetic loop antenna includes an x-vertical induction loop, a y-vertical induction loop, and a z-horizontal induction loop arranged orthogonally along three axes.

[0014] Preferably, the data processing compensation control module includes: The deviation calculation unit is used to calculate the angle deviation of the initial three-dimensional angle data of lightning based on the deviation between the real-time attitude data and the design attitude data of the lightning detection sensor. An adaptive filtering unit is used to smooth the angle deviation and output a dynamic compensation amount. The compensation control unit is used to perform real-time correction on the initial three-dimensional angle data of lightning using the dynamic compensation amount, output the calibrated and corrected lightning angle data, and trigger an alarm when the dynamic compensation amount exceeds a preset threshold.

[0015] Preferred options also include: The reference calibration module is used to output a reference calibration signal; Multiple test rings are set outside the triaxial orthogonal magnetic loop antenna and output corresponding test electromagnetic signals based on the reference calibration signal; the lightning detection sensor outputs initial angle test data after sensing the test electromagnetic signals. A TMR magnetic sensor is mounted on the axis of the dual-antenna satellite orientation unit to detect the test electromagnetic signal and output the reference angle of the test electromagnetic signal.

[0016] Preferably, the data processing compensation control module includes: The deviation calculation unit is used to calculate the system deviation of the lightning detection sensor based on the reference angle and the initial angle test data; during the lightning detection process, the initial three-dimensional angle data of lightning is corrected based on the system deviation to obtain the corrected initial three-dimensional angle data of lightning; and the angle deviation of the corrected initial three-dimensional angle data of lightning is calculated based on the deviation between the real-time attitude data and the design attitude data of the lightning detection sensor. An adaptive filtering unit is used to smooth the angle deviation and output a dynamic compensation amount. The compensation control unit is used to perform real-time correction on the corrected initial three-dimensional lightning angle data using the dynamic compensation amount, output the calibrated and corrected lightning angle data, and trigger an alarm when the dynamic compensation amount exceeds a preset threshold.

[0017] Preferably, the dual-antenna satellite orientation unit and the lightning detection sensor are rigidly connected by a mechanical positioning structure; the mechanical positioning structure includes multiple collimation marking lines and multiple positioning fixing holes; the multiple collimation marking lines are distributed on the axis of the dual-antenna satellite orientation unit, and the multiple positioning fixing holes are arranged in concentric circles with the center of the dual-antenna satellite orientation unit as the center.

[0018] Based on the same inventive concept, this invention also provides a three-dimensional lightning detection method, comprising: Lightning detection was performed using the three-dimensional lightning detection device described above. The data processing compensation control module in the three-dimensional lightning detection device outputs the lightning electromagnetic wave signal strength and the calibrated and corrected lightning angle data, and transmits the lightning electromagnetic wave signal strength and the calibrated and corrected lightning angle data to the lightning positioning center.

[0019] Based on the same inventive concept, the present invention also provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed, it implements the three-dimensional lightning detection method described above.

[0020] Compared with the closest existing technology, the present invention has the following beneficial effects: This invention provides a three-dimensional lightning detection device, method, and medium. The device includes: a lightning detection sensor for sensing lightning electromagnetic wave signals and outputting lightning electromagnetic wave signal intensity and initial three-dimensional lightning angle data; an attitude detection module for monitoring the real-time attitude data of the lightning detection sensor; and a data processing compensation control module for performing real-time joint calibration and correction on the initial three-dimensional lightning angle data and the real-time attitude data of the lightning detection sensor, and outputting the calibrated and corrected lightning angle data. This device and method, through the attitude detection module, can continuously monitor sensor attitude changes during lightning detection, and through the data processing compensation control module, can instantly compensate for angle deviations. This ensures that even when the sensor carrier is moving or shaking, the device can adjust the azimuth angle measurement value in real time, guaranteeing continuous and accurate positioning data. It avoids the lag of offline calibration, automates azimuth angle deviation compensation, reduces manual intervention, and is particularly suitable for deployment at unattended field sites or mobile platforms, reducing operation and maintenance costs. Attached Figure Description

[0021] Figure 1 This is a schematic diagram illustrating the structural principle of a three-dimensional lightning detection device provided by the present invention. Figure 2 This is a schematic diagram of the overall structure of a three-dimensional lightning detection device provided by the present invention; Figure 3 This is a schematic diagram of the structure of the triaxial orthogonal magnetic ring antenna provided by the present invention; Figure 4 Schematic diagram of the structure of the dual-antenna satellite orientation unit provided by the present invention Figure 1 ; Figure 5 Schematic diagram of the structure of the dual-antenna satellite orientation unit provided by the present invention Figure 2 ; Figure 6 This is a schematic diagram of the assembly of the triaxial orthogonal magnetic ring antenna and the nine-axis inertial measurement unit provided by the present invention; Figure 7 This is a schematic diagram of the assembly of the lightning detection sensor and the dual-antenna satellite orientation unit provided by the present invention; Figure 8 This is a schematic diagram of a three-dimensional lightning detection method provided by the present invention; The components include: 1. Triaxial orthogonal magnetic loop antenna; 1-1. x-vertical induction loop; 1-2. y-vertical induction loop; 1-3. z-horizontal induction loop; 2. Electric field antenna; 3. Nine-axis inertial measurement unit; 4. Satellite receiving antenna; 5. GNSS signal processing module; 6. Data processing compensation control module; 7. Collimation mark line; 8. Positioning fixing hole; 9. North mark arrow; 10. North mark line; 11. Test ring; 12. TMR magnetic sensor. Detailed Implementation

[0022] The specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0023] Example 1: This invention provides a three-dimensional lightning detection device, such as... Figure 1 and Figure 2 As shown, it includes: Lightning detection sensors are used to sense lightning electromagnetic wave signals and output lightning electromagnetic wave signal strength and initial three-dimensional angle data of lightning. An attitude detection module is used to monitor the real-time attitude data of the lightning detection sensor; The data processing compensation control module 6 is used to perform real-time joint calibration and correction on the initial three-dimensional angle data of lightning and the real-time attitude data of the lightning detection sensor, and output the calibrated and corrected lightning angle data.

[0024] Considering the poor detection accuracy of lightning detection devices on non-fixed platforms, this invention uses an attitude detection module to continuously monitor sensor attitude changes during lightning detection and uses a data processing compensation control module 6 to instantly compensate for angle deviations. This allows the device to adjust the azimuth angle measurement value in real time even when the sensor carrier is moving or shaking, ensuring continuous and accurate positioning data. It avoids the lag of offline calibration, automates the direction angle deviation compensation, reduces manual intervention, and is particularly suitable for deployment at unattended field sites or mobile platforms, reducing operation and maintenance costs.

[0025] In this embodiment, the lightning detection sensor includes a triaxial orthogonal magnetic loop antenna 1, an electric field antenna 2, and a signal processing unit; Specifically, the lightning detection sensor can detect the vector intensity of the magnetic field generated by the lightning return stroke on the horizontal and vertical planes, and calculate the azimuth and elevation angles relative to the lightning detection sensor's own coordinate system.

[0026] The triaxial orthogonal magnetic loop antenna 1 is used to sense lightning electromagnetic wave signals and output triaxial sensing components; The electric field antenna 2 is mounted on top of the triaxial orthogonal magnetic ring antenna 1 and is used to sense lightning electromagnetic wave signals and output electric field components. The signal processing unit is used to compare the amplitude and detect the phase of the triaxial induction component and the electric field component, and output the lightning electromagnetic wave signal intensity and the initial three-dimensional angle data of the lightning.

[0027] It should be noted that, according to the principle of electromagnetic induction, when the lightning electromagnetic wave signal generated by lightning passes through the lightning detection sensor, it can generate corresponding induced components on the three induction loops, namely x, y, and z components, as well as the electric field polarity of the signal. After pre-amplification and filtering, the component signals are sent to the signal processing unit. The signal processing unit performs amplitude comparison and phase detection on the component signals. Using the trigonometric vector calculation method, it can calculate the intensity of the lightning electromagnetic wave signal arriving at the current three-dimensional lightning detection device and the incident direction of the wave relative to the lightning detection sensor, and send the data to the data processing compensation control module 6.

[0028] like Figure 3 As shown, in this embodiment, the triaxial orthogonal magnetic loop antenna 1 includes an x-vertical induction loop 1-1, a y-vertical induction loop 1-2, and a z-horizontal induction loop 1-3 arranged orthogonally along three axes.

[0029] Specifically, the three sensing loops of the triaxial orthogonal magnetic loop antenna 1 are the x-vertical sensing loop 1-1 corresponding to the xz plane, the y-vertical sensing loop 1-2 corresponding to the yz plane, and the z-horizontal sensing loop 1-3 corresponding to the xy plane, which are used to sense the magnetic field component of the lightning electromagnetic wave signal formed by lightning.

[0030] In this embodiment, the attitude detection module includes: The nine-axis inertial measurement unit 3 is rigidly connected to the lightning detection sensor and is used to measure the linear acceleration, angular velocity and geomagnetic field direction of the lightning detection sensor in real time. A dual-antenna satellite orientation unit, rigidly connected to the lightning detection sensor, is used to provide a geographic absolute direction reference value; The attitude signal processing unit is used to hierarchically fuse the measurement data of the nine-axis inertial measurement unit 3 and the geographic absolute direction reference value, and output the real-time attitude data of the lightning detection sensor.

[0031] It should be noted that the attitude detection module provides high dynamic attitude state response and trend judgment through the nine-axis inertial measurement unit 3, and provides high-precision geographic absolute direction reference value through the dual-antenna satellite orientation unit. After the two are integrated, stable and reliable orientation information can be obtained in various environments. In particular, for lightning detection in low-frequency and very low-frequency bands, the geographic absolute direction reference value is not affected by the magnetic materials around the device, which greatly improves the stability and anti-interference capability of direction finding.

[0032] In this embodiment, the nine-axis inertial measurement unit 3 includes a three-axis accelerometer, a three-axis gyroscope, and a three-axis magnetometer; the measurement axis of the three-axis gyroscope is collinear with the central vertical axis of the lightning detection sensor, and the plane containing the pitch angle and roll angle of the three-axis gyroscope is parallel to the horizontal plane of the lightning detection sensor.

[0033] It should be noted that the nine-axis inertial measurement unit (3IMU) maintains a rigid and stable connection with the lightning detection sensor, thus enabling it to synchronously sense changes in the sensor's attitude.

[0034] The triaxial accelerometer measures acceleration components along the three axes of the IMU, including information on gravitational acceleration.

[0035] A three-axis gyroscope measures the angular velocity around the three axes of the IMU and can be used to calculate the sensor's attitude angles (pitch, roll, yaw) relative to the horizontal plane. It can also be used to integrate the rotation angle increments to track rapid attitude changes.

[0036] A triaxial magnetometer measures the components of the Earth's magnetic field on the three axes of an IMU and can be used to determine the magnetic heading angle of the sensor relative to magnetic north.

[0037] In this embodiment, the dual-antenna satellite orientation unit includes two satellite receiving antennas 4 symmetrically arranged on both sides of the lightning detection sensor. The direction finding baseline formed by the two satellite receiving antennas 4 is arranged in a coplanar parallel manner with the reference baseline of the lightning detection sensor.

[0038] In this embodiment, preferably, the dual-antenna satellite orientation unit adopts the BeiDou satellite orientation system to form a dual-antenna BeiDou satellite orientation unit. Alternatively, other satellite orientation devices can be used to form the corresponding dual-antenna satellite orientation unit.

[0039] It should be noted that the dual-antenna BeiDou satellite orientation unit is specifically designed for precise monitoring of the true north azimuth angle, and can track the antenna angle once per second, or achieve high dynamic tracking more than 10 times per second.

[0040] In this embodiment, the dual-antenna satellite orientation unit further includes a GNSS signal processing module 5, which is communicatively connected to the two satellite receiving antennas 4 and outputs a geographic absolute direction reference value.

[0041] It should be noted that the direction finding baseline formed by the two satellite receiving antennas 4 is strictly coplanar and parallel to the reference baseline of the lightning detection sensor (usually the X-axis direction of the magnetic loop antenna, i.e., the north direction, the north reference line). This structural design ensures the consistency of the direction reference and reduces system error.

[0042] To achieve this collinear parallel relationship, such as Figure 4 and Figure 5 As shown, the support frame of the two satellite receiving antennas 4 is made of precision-machined aluminum alloy. The GNSS signal processing module 5 is set at the center between the two satellite receiving antennas 4, so that the two sets of baselines maintain a fixed relative position in the mechanical structure.

[0043] Simultaneously, during the installation and commissioning phase, high-precision laser rangefinders and levels are used for precise alignment to ensure that the baseline parallelism error is controlled within ±0.1°. The working principle of the dual-antenna satellite orientation unit is based on carrier phase difference measurement: when satellite signals arrive at the two satellite receiving antennas 4 respectively, a phase difference is generated due to the distance difference between the two satellite receiving antennas 4. By measuring this phase difference and combining it with satellite position information, the precise angle of the antenna baseline relative to true north can be calculated. Compared with traditional magnetic compasses, dual-antenna satellite orientation units have significant advantages: First, its direction finding principle is based on satellite signals and is not affected by changes in the geomagnetic field or local magnetic field interference, maintaining high accuracy even in environments with a large number of metal or electrical devices; second, the preferred BeiDou satellite orientation system provides an absolute direction reference (relative to geographic true north), eliminating the need for magnetic declination correction; third, it has high direction finding accuracy, reaching ±0.1° under good conditions, far superior to the ±1-2° of ordinary magnetic compasses. Under normal conditions, the unit updates the orientation angle once per second. In highly dynamic environments (such as vehicle-mounted, ship-mounted platforms, and offshore wind turbine platforms), the update rate can be increased to more than 10 times per second, ensuring the real-time and continuous nature of the orientation reference.

[0044] In this embodiment, the length of the direction-finding baseline formed by the two satellite receiving antennas 4 is 0.5m to 1.5m, so as to meet the installation requirements while ensuring direction-finding accuracy.

[0045] In this embodiment, the attitude signal processing unit employs a hierarchical data fusion strategy: for rapid attitude changes within a short period, high-frequency tracking is primarily achieved using IMU data (especially gyroscope data); for long-term stable direction reference, absolute direction data (geographic absolute direction reference value) provided by the dual-antenna satellite orientation unit is mainly relied upon. The two types of data are fused using algorithms such as complementary filtering and extended Kalman filtering, ensuring both short-term dynamic response agility and long-term pointing absolute accuracy. After the above processing, the attitude signal processing unit can output real-time attitude information of the lightning detection sensor in the geographic coordinate system, including pitch angle, roll angle, and absolute heading angle relative to geographic true north. This information is sent to the data processing compensation control module 6 at a certain frequency.

[0046] In this embodiment, the data processing compensation control module 6 includes: The deviation calculation unit is used to calculate the angle deviation of the initial three-dimensional angle data of lightning based on the deviation between the real-time attitude data and the design attitude data of the lightning detection sensor. An adaptive filtering unit is used to smooth the angle deviation and output a dynamic compensation amount. The compensation control unit is used to perform real-time correction on the initial three-dimensional angle data of lightning using the dynamic compensation amount, output the calibrated and corrected lightning angle data, and trigger an alarm when the dynamic compensation amount exceeds a preset threshold.

[0047] It should be noted that the data processing compensation control module 6 is connected to the attitude detection module and the lightning detection sensor. It is used to receive and process real-time attitude data and calculate the compensation amount for the deviation of the heading angle and pitch angle. It is also connected to the lightning positioning center to transmit lightning detection data (lightning electromagnetic wave signal strength) and attitude compensation status data (lightning angle data after calibration and correction).

[0048] In this embodiment, the data processing compensation control module 6 is implemented by an embedded microcontroller.

[0049] Specifically, the deviation calculation unit first calculates the pitch angle and roll angle of the lightning detection sensor relative to the horizontal plane and the vertical plane based on the data from the attitude detection module, and obtains the magnetic heading angle of the lightning detection sensor based on the magnetometer data. Then, it converts the magnetic heading angle into the geographic true north azimuth angle (i.e., the absolute azimuth angle relative to geomagnetic north, taking into account the local magnetic declination). At the same time, the deviation calculation unit also combines the geographic true north azimuth reference data provided by the dual-antenna Beidou satellite orientation unit to optimize the current geographic true north azimuth angle, and obtains the angular deviation of each normal direction of the lightning detection sensor relative to the geographic true north direction, the horizontal direction, and the vertical direction.

[0050] For example, based on the attitude information output by the attitude detection module, the absolute azimuth angle and attitude parameters of the sensor's current pointing direction are calculated. Taking the absolute azimuth angle α_current of the lightning detection sensor itself as an example, α_current should be equal to its designed pointing direction (e.g., the magnetic ring's X-axis should point north, ideally α_current should be 0°). If there is an installation or drift deviation, then α_current will deviate from 0°, and this deviation is the azimuth angle deviation Δθ of the lightning detection sensor. Therefore, the deviation calculation unit can be simplified to: Δθ = α_current - α_ideal, where α_ideal is the ideal azimuth angle that the lightning detection sensor should point to (usually 0°, i.e., true north). Thus, Δθ is the deviation of the lightning detection sensor's current pointing direction relative to the ideal pointing direction. In actual implementation, the deviation calculation unit can calculate α_current based on the data from the attitude detection module and compare it with 0° to obtain Δθ. For example, if the attitude detection module measures the sensor's heading angle as 5°, it means that the sensor is actually pointing 5° east of north, with a deviation of +5°, which needs to be subtracted from the lightning azimuth measurement as compensation.

[0051] The adaptive filtering unit performs dynamic filtering correction on the above-mentioned deviation. It uses adaptive algorithms such as Kalman filtering and complementary filtering to filter out short-term noise outliers, estimate and smooth the direction angle deviation in real time, and obtain a stable compensation amount.

[0052] Specifically, due to environmental and sensor noise, the Δθ calculated directly by the attitude module may fluctuate, requiring filtering for smoothing and noise reduction. This embodiment employs a Kalman filter algorithm to dynamically estimate the deviation. The Kalman filter uses the sensor's angle deviation as the state, the gyroscope's angular velocity as the control input, and the accelerometer / magnetometer's angle measurement as the observation input. The filtering process consists of two steps: prediction and update. In the prediction step, based on the deviation state from the previous moment and the angular velocity measured by the gyroscope, the current deviation estimate is predicted. In the update step, the current deviation Δθ measured by the accelerometer / magnetometer is used as the observation value, compared with the predicted value, and the state estimate is adjusted using Kalman gain to obtain a more accurate current deviation estimate. The Kalman filter can automatically adjust the gain based on noise statistics, thereby suppressing noise while quickly tracking the actual deviation changes. Besides Kalman filtering, complementary filtering algorithms can also be used: weighted fusion of the low-frequency stable angle provided by the accelerometer / magnetometer and the high-frequency dynamic angle provided by the gyroscope is performed to obtain a deviation compensation amount that is both smooth and responsive. After filtering, the resulting dynamic compensation quantity Δθ_compensated can be used to correct the azimuth output of the lightning detection sensor in real time.

[0053] The compensation control unit continuously monitors the magnitude of the angular deviation. If the deviation exceeds the preset threshold, it may mean that the sensor has experienced significant unexpected movement or attitude inaccuracy. In this case, the feedback control unit will trigger an alarm message to prompt maintenance personnel to check or recalibrate.

[0054] For example, the compensation control unit continuously monitors the magnitude of Δθ_compensated. If Δθ_compensated exceeds a preset threshold (e.g., ±2°), it indicates excessive sensor orientation deviation, possibly caused by loose installation, foundation settlement, or other unexpected disturbances. In this case, the feedback control unit issues an alarm via the alarm module, notifying maintenance personnel to conduct timely inspection. For detection stations equipped with automatic adjustment mechanisms (e.g., sensors mounted on a rotatable platform), the feedback control unit can also output control signals to the motor driver, driving the platform to rotate to correct the sensor orientation, reducing Δθ_compensated to near zero. This closed-loop control enables automatic sensor alignment. Furthermore, the feedback control unit can record the deviation trend over time, used to analyze sensor stability and develop maintenance plans.

[0055] In this embodiment, the dual-antenna satellite orientation unit and the lightning detection sensor are rigidly connected by a mechanical positioning structure; the mechanical positioning structure includes multiple collimation marking lines 7 and multiple positioning fixing holes 8; the multiple collimation marking lines 7 are distributed on the axis of the dual-antenna satellite orientation unit, and the multiple positioning fixing holes 8 are arranged in concentric circles with the center of the dual-antenna satellite orientation unit as the center.

[0056] It should be noted that the mechanical positioning structure transforms random assembly errors into fixed systematic errors through careful mechanical design, and achieves high-precision north-pointing through one-time system-level calibration for precise measurement and software compensation.

[0057] like Figure 4 and Figure 5 As shown, the main structure of the dual-antenna satellite orientation unit has a collimation mark line 7 precisely machined along its axial direction, wherein the north-pointing mark line 10 is coplanar and parallel to the line connecting the two satellite receiving antennas 4. The main structure of the dual-antenna BeiDou satellite orientation unit also has eight concentrically distributed lightning detection sensor positioning and fixing holes 8 precisely machined, with the center of each concentric circle coinciding with the center of the dual-antenna BeiDou satellite orientation unit.

[0058] like Figure 6 As shown, the triaxial orthogonal magnetic loop antenna 1 of the lightning detection sensor has a north-pointing mark line 10 and eight concentrically distributed lightning detection sensor positioning and fixing holes 8 precisely machined on it. The center of the concentric circles coincides with the perpendicular bisector of the lightning detection sensor. The sensitive center of the nine-axis inertial measurement unit 3 coincides with the perpendicular bisector of the lightning detection sensor, and its heading axis is coplanar and parallel to the north-pointing axis of the lightning detection sensor.

[0059] like Figure 7 As shown, by aligning the lightning detection sensor with the collimation mark line 7 on the dual-antenna satellite orientation unit, the main structure of the lightning detection sensor and the mounting surface of the dual-antenna satellite orientation unit are tightly fitted, thereby achieving coplanar constraint between the two planes and eliminating out-of-plane angle error holes.

[0060] By aligning and locking the collimation mark lines 7 at multiple points and by having the north mark line 10 correspond to the north mark arrow 9, the relative circumferential positions of the main structure of the lightning detection sensor and the main structure of the dual-antenna satellite orientation unit in the horizontal plane are constrained, thus transforming the assembly error in the torsional direction from a random variable into a fixed systematic error.

[0061] The steps for calibrating and correcting the factory error of the north axis based on the above mechanical structure are as follows: 1. System installation: Using the precision positioning mechanism, fix the lightning detection sensor and the dual-antenna satellite orientation unit.

[0062] 2. Rotation Calibration: Using eight concentrically distributed lightning detection sensors, the positioning and fixing holes 8 form a circular distribution. The lightning detection sensors are rotated and fixed at 45° intervals. At each location point i, the rotation angle reading θ_platform_i and the true north azimuth angle θ_beidou_i output by the BeiDou direction-finding device are recorded simultaneously using a goniometer. The azimuth deviation Δθ_i = θ_beidou_i - θ_platform_i is calculated for each location point.

[0063] 3. Error Calculation: Calculate the arithmetic mean of the azimuth deviation Δθ_i calculated at all locations or fit it using the least squares method to obtain the installation error angle Δθ_system, which is the factory calibration value.

[0064] 4. Software solidification: The calculated Δθ_system is stored as a system constant in the data processing compensation control module 6 for state comparison and correction during runtime.

[0065] To address systemic errors caused by mechanical wear during installation and use, in another possible implementation, the device further includes: The reference calibration module is used to output a reference calibration signal; the reference calibration signal can be a standard sine wave or pulse electromagnetic signal with a frequency in the range of 1kHz-500kHz and an adjustable intensity, and its initial phase and amplitude are preset by the data processing compensation control module 6.

[0066] Multiple test rings 11 are arranged outside the triaxial orthogonal magnetic loop antenna 1, and output corresponding test electromagnetic signals based on the reference calibration signal; the lightning detection sensor outputs initial angle test data after sensing the test electromagnetic signals. The TMR magnetic sensor 12 is disposed on the axis of the dual-antenna satellite orientation unit and is used to detect the test electromagnetic signal and output the reference angle of the test electromagnetic signal.

[0067] like Figure 3 As shown, multiple test rings 11 are arranged in parallel with each induction ring of the triaxial orthogonal magnetic loop antenna 1.

[0068] like Figure 4As shown, four TMR magnetic sensors 12 are evenly and equidistantly distributed on the collimation mark line 7 of the dual-antenna satellite orientation unit. The sensitive axis of each TMR magnetic sensor 12 is coplanar and parallel to the corresponding collimation mark line 7. The four TMR magnetic sensors 12 are used to receive the test electromagnetic signals generated by the lightning detection sensor test loop 11 (formed by multiple test loops 11). Through the combination of these sensors, the dual-antenna satellite orientation unit provides a long-term absolute true north reference, the IMU provides short-term dynamic and high-frequency updates, complementing each other's advantages. The attitude detection module can provide information on the attitude and azimuth changes of the lightning detection sensor in three-dimensional space.

[0069] The above-mentioned reference calibration module, multiple test loops 11, and TMR magnetic sensor 12 serve as the basic hardware conditions for system error correction. For example... Figure 1 As shown, the complete logical structure of the device includes a lightning detection sensor module, an attitude detection module, and a data processing compensation control module 6. The modules are connected through a data bus or interface to form a closed-loop control system.

[0070] In this embodiment, the data processing compensation control module 6 outputs a test control signal to the reference calibration module. The reference calibration module outputs a reference calibration signal based on the control signal, specifically a calibration signal with known intensity and angle, for device self-test calibration.

[0071] When the lightning detection sensor receives the calibration signal and measures the azimuth angle, the data processing compensation control module 6 can immediately calculate the overall deviation of the triaxial orthogonal magnetic loop antenna 1 of the current lightning detection sensor and correct and compensate it. At the same time, the TMR magnetic sensor 12 located on the dual-antenna satellite orientation unit can receive the calibration signal and output the corresponding amplitude and phase information. The data processing compensation control module 6 can calculate the deviation between the north direction of the lightning detection sensor and the north direction of the dual-antenna satellite orientation unit. By comparing with the factory calibration value, it can further correct and compensate, or determine structural error damage.

[0072] The reference calibration module can be one or more fixed reference detection stations, or a calibration signal source with a known azimuth. With a reference station, the data processing compensation control module 6 can compare the lightning azimuth detected by the device with the accurate azimuth detected by the reference station in real time, thereby verifying and correcting its own orientation deviation. For example, when the same lightning event is detected simultaneously by the device and a reference station, comparing the azimuth angles provided by the two can help correct the device's deviation estimate. Similarly, if a calibration signal source with a known azimuth exists (e.g., a fixed beacon emitting a specific electromagnetic signal), the device can measure an azimuth angle upon receiving the signal, compare it with the beacon's true azimuth to obtain and correct the deviation. The introduction of the reference calibration module can further improve long-term operational stability and reduce systematic errors present in the attitude detection module.

[0073] In this invention, the reference calibration module is specifically implemented by winding three orthogonal test rings 11 on the normal planes corresponding to the x-vertical sensing ring 1-1, y-vertical sensing ring 1-2, and z-horizontal sensing ring 1-3 of the lightning detection sensor. A calibration signal with known intensity and angle is generated by the data processing compensation control module 6 or an external signal source. When the lightning detection sensor receives the calibration signal and measures the azimuth angle θ_measured_cal, the overall deviation of the current system Δθ_cal = θ_measured_cal - θ_true_cal can be calculated immediately, where θ_true_cal is the given calibration signal angle. This method can perform calibration as needed or at regular intervals, detect the overall deviation of the triaxial orthogonal magnetic loop antenna 1 of the lightning detection sensor, and correct and compensate for it.

[0074] Meanwhile, the TMR magnetic sensor 12 located on the dual-antenna satellite orientation unit can periodically detect the known standard magnetic field test signal output by the test ring 11 and output the corresponding amplitude and phase information. The data processing compensation control module 6 can calculate the deviation between the north direction of the lightning detection sensor and the north direction of the dual-antenna Beidou satellite orientation unit each time. Through periodic test data tracking and comparison with the factory calibration value, further correction and compensation can be made, or structural error damage can be judged.

[0075] In this embodiment, given the basic hardware conditions for system error correction, the data processing compensation control module 6 includes: The deviation calculation unit is used to calculate the system deviation of the lightning detection sensor based on the reference angle and the initial angle test data; during the lightning detection process, the initial three-dimensional angle data of lightning is corrected based on the system deviation to obtain the corrected initial three-dimensional angle data of lightning; and the angle deviation of the corrected initial three-dimensional angle data of lightning is calculated based on the deviation between the real-time attitude data and the design attitude data of the lightning detection sensor. An adaptive filtering unit is used to smooth the angle deviation and output a dynamic compensation amount. The compensation control unit is used to perform real-time correction on the corrected initial three-dimensional lightning angle data using the dynamic compensation amount, output the calibrated and corrected lightning angle data, and trigger an alarm when the dynamic compensation amount exceeds a preset threshold.

[0076] It should be noted that the various modules of this invention are not simply superimposed, but rather work together to produce a comprehensive technical effect. Specifically, the attitude detection module solves the problem of insufficient accuracy of a single sensor in dynamic environments through the hierarchical fusion of a nine-axis IMU and a dual-antenna satellite orientation unit; the data processing compensation control module achieves comprehensive error correction from long-term stability to instantaneous response through a combination of system deviation pre-calibration and real-time dynamic compensation; and the reference calibration module ensures the system's accuracy consistency throughout its entire lifecycle through closed-loop verification using the built-in test loop 11 and the TMR magnetic sensor 12. This multi-module, multi-level collaborative design enables this invention to continuously provide reliable three-dimensional lightning detection data in various complex scenarios, including fixed sites and mobile platforms.

[0077] This invention integrates attitude detection and automatic compensation algorithms into a lightning detection sensor, achieving real-time monitoring and dynamic correction of azimuth deviation. Compared with existing technologies, its significant advantages are: Enhanced real-time monitoring capabilities: The system can continuously monitor sensor attitude changes during lightning detection, instantly compensate for directional deviations, and avoid the lag of offline calibration. Even if the sensor carrier is moving or shaking, the system can adjust the orientation measurement values ​​in real time to ensure continuous and accurate positioning data.

[0078] Improving Direction Finding Accuracy: Employing multi-sensor data fusion and adaptive filtering techniques enhances the accuracy and anti-interference capability of azimuth angle measurements. The nine-axis inertial measurement unit (IMU) provides high-dynamic attitude response and trend judgment, while the dual-antenna BeiDou satellite orientation unit provides a high-precision true north reference. The fusion of these two technologies enables stable and reliable azimuth information to be obtained under various environments. Particularly for lightning detection in low-frequency and very low-frequency bands, the direction reference provided by the BeiDou system is unaffected by interference from surrounding magnetic materials, significantly improving direction finding stability. Experiments show that the angle measurement error of the orthogonal magnetic loop antenna can be reduced by approximately 50% through error correction algorithms. Combined with BeiDou dual-antenna orientation technology, the direction deviation can be controlled within ±0.1°. Furthermore, this invention incorporates real-time dynamic compensation, which further improves the accuracy of short-duration, high-frequency lightning electromagnetic signal measurements.

[0079] Reduced human intervention: Automation of orientation deviation compensation reduces human intervention. Traditional methods require periodic manual calibration, while this device can self-monitor and calibrate, making it particularly suitable for deployment at unattended field sites or mobile platforms, thus reducing operation and maintenance costs.

[0080] Enhancing System Reliability: This invention is not only applicable to fixed lightning detection stations, improving their long-term operational stability, but also to mobile lightning monitoring systems such as vehicle-mounted and ship-mounted systems, enabling them to provide reliable azimuth data even in moving or bumpy environments. Furthermore, for stations susceptible to swaying and wind vibration, the dynamic compensation function can effectively mitigate the impact of minor ground changes on direction-finding accuracy.

[0081] In summary, this invention can significantly improve the accuracy of lightning detection azimuth measurement, thereby enhancing the overall performance of the lightning location system, and has significant application value and broad market prospects.

[0082] Example 2: Based on the same inventive concept, this invention also provides a three-dimensional lightning detection method, such as... Figure 8 As shown, it includes: S1. Lightning detection is performed using the three-dimensional lightning detection device described in the above embodiments; S2. The data processing compensation control module 6 in the three-dimensional lightning detection device outputs the lightning electromagnetic wave signal strength and the calibrated and corrected lightning angle data, and transmits the lightning electromagnetic wave signal strength and the calibrated and corrected lightning angle data to the lightning positioning center.

[0083] Specifically, the workflow of this invention is as follows: When lightning occurs, the lightning detection sensor in the three-dimensional lightning detection device receives the lightning electromagnetic pulse. After signal processing, the intensity of the lightning electromagnetic wave signal and the azimuth and elevation angles of the lightning relative to the sensor's own coordinate system are obtained. Simultaneously, the attitude detection module continuously monitors the sensor's attitude changes, including heading, pitch, and roll angles, and sends this attitude data to the data processing compensation control module 6 in real time. The data processing compensation control module 6 calculates the sensor's current deviation relative to the geographic coordinate system based on the attitude data, corrects the lightning direction angle, and then sends the corrected angle (i.e., the calibrated and corrected lightning angle data) to the lightning positioning center for positioning calculation. During the operation of the three-dimensional lightning detection device, the reference calibration module calibrates the sensor and attitude module according to a set cycle (e.g., once a month) or as needed, ensuring that the system error is within the allowable range. When operating in a dynamic environment, if the attitude detection module detects a drastic change in the sensor's attitude (e.g., strong winds causing the antenna mast to sway), the data processing compensation control module 6 will promptly calculate the deviation and compensate for it, thereby ensuring that even in dynamic environments, the detection station can still provide accurate lightning direction data.

[0084] Example 3 Based on the same inventive concept, this invention also provides a readable storage medium, specifically an electronic device readable storage medium (Memory). This readable storage medium is a memory device within an electronic device used to store programs and data. It is understood that the storage medium here can include both built-in storage media within the electronic device and extended storage media supported by the electronic device. The storage medium provides storage space, which stores the terminal's operating system. Furthermore, this storage space also stores one or more instructions suitable for loading and execution by a processor. These instructions can be one or more executable programs (including program code). It should be noted that the storage medium here can be high-speed RAM or non-volatile memory, such as at least one disk storage device. Loading and executing one or more instructions stored in the storage medium by the processor can implement the steps of the three-dimensional lightning detection method described in the above embodiments.

[0085] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0086] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0087] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0088] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0089] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit its scope of protection. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that after reading the present invention, they can still make various changes, modifications or equivalent substitutions to the specific implementation methods of the application, but these changes, modifications or equivalent substitutions are all within the scope of protection of the claims of the present invention.

Claims

1. A three-dimensional lightning detection device, characterized in that, include: Lightning detection sensors are used to sense lightning electromagnetic wave signals and output lightning electromagnetic wave signal strength and initial three-dimensional angle data of lightning. An attitude detection module is used to monitor the real-time attitude data of the lightning detection sensor; The data processing compensation control module (6) is used to perform real-time joint calibration and correction on the initial three-dimensional angle data of lightning and the real-time attitude data of the lightning detection sensor, and output the calibrated and corrected lightning angle data.

2. The apparatus as claimed in claim 1, characterized in that, The attitude detection module includes: The nine-axis inertial measurement unit (3) is rigidly connected to the lightning detection sensor and is used to measure the linear acceleration, angular velocity and geomagnetic field direction of the lightning detection sensor in real time. A dual-antenna satellite orientation unit, rigidly connected to the lightning detection sensor, is used to provide a geographic absolute direction reference value; The attitude signal processing unit is used to perform hierarchical fusion of the measurement data of the nine-axis inertial measurement unit (3) and the geographic absolute direction reference value, and output the real-time attitude data of the lightning detection sensor.

3. The apparatus as described in claim 2, characterized in that, The nine-axis inertial measurement unit (3) includes a three-axis accelerometer, a three-axis gyroscope and a three-axis magnetometer; the measurement axis of the three-axis gyroscope is collinear with the central vertical axis of the lightning detection sensor, and the plane containing the pitch angle and roll angle of the three-axis gyroscope is parallel to the horizontal plane of the lightning detection sensor.

4. The apparatus as described in claim 2 or 3, characterized in that, The dual-antenna satellite orientation unit includes two satellite receiving antennas (4) symmetrically arranged on both sides of the lightning detection sensor. The direction finding baseline formed by the two satellite receiving antennas (4) is arranged in a coplanar parallel manner with the reference baseline of the lightning detection sensor.

5. The apparatus as described in claim 4, characterized in that, The length of the direction finding baseline formed by the two satellite receiving antennas (4) is 0.5m to 1.5m.

6. The apparatus according to any one of claims 1-3, characterized in that, The lightning detection sensor includes a triaxial orthogonal magnetic ring antenna (1), an electric field antenna (2), and a signal processing unit; The triaxial orthogonal magnetic ring antenna (1) is used to sense lightning electromagnetic wave signals and output triaxial sensing components; The electric field antenna (2) is mounted on top of the triaxial orthogonal magnetic ring antenna (1) to sense lightning electromagnetic wave signals and output electric field components; The signal processing unit is used to compare the amplitude and detect the phase of the triaxial induction component and the electric field component, and output the lightning electromagnetic wave signal intensity and the initial three-dimensional angle data of the lightning.

7. The apparatus as claimed in claim 6, characterized in that, The triaxial orthogonal magnetic loop antenna (1) includes an x-vertical induction loop (1-1), a y-vertical induction loop (1-2), and a z-horizontal induction loop (1-3) arranged orthogonally along three axes.

8. The apparatus according to any one of claims 1-3, characterized in that, The data processing compensation control module (6) includes: The deviation calculation unit is used to calculate the angle deviation of the initial three-dimensional angle data of lightning based on the deviation between the real-time attitude data and the design attitude data of the lightning detection sensor. An adaptive filtering unit is used to smooth the angle deviation and output a dynamic compensation amount. The compensation control unit is used to perform real-time correction on the initial three-dimensional angle data of lightning using the dynamic compensation amount, output the calibrated and corrected lightning angle data, and trigger an alarm when the dynamic compensation amount exceeds a preset threshold.

9. The apparatus as claimed in claim 6 or 7, characterized in that, Also includes: The reference calibration module is used to output a reference calibration signal; Multiple test rings (11) are set outside the triaxial orthogonal magnetic loop antenna (1) and output corresponding test electromagnetic signals based on the reference calibration signal; the lightning detection sensor outputs initial angle test data after sensing the test electromagnetic signals; The TMR magnetic sensor (12) is disposed on the axis of the dual-antenna satellite orientation unit and is used to detect the test electromagnetic signal and output the reference angle of the test electromagnetic signal.

10. The apparatus as claimed in claim 9, characterized in that, The data processing compensation control module (6) includes: The deviation calculation unit is used to calculate the system deviation of the lightning detection sensor based on the reference angle and the initial angle test data; during the lightning detection process, the initial three-dimensional angle data of lightning is corrected based on the system deviation to obtain the corrected initial three-dimensional angle data of lightning; and the angle deviation of the corrected initial three-dimensional angle data of lightning is calculated based on the deviation between the real-time attitude data and the design attitude data of the lightning detection sensor. An adaptive filtering unit is used to smooth the angle deviation and output a dynamic compensation amount. The compensation control unit is used to perform real-time correction on the corrected initial three-dimensional lightning angle data using the dynamic compensation amount, output the calibrated and corrected lightning angle data, and trigger an alarm when the dynamic compensation amount exceeds a preset threshold.

11. The apparatus as claimed in claim 2 or 3, characterized in that, The dual-antenna satellite orientation unit and the lightning detection sensor are rigidly connected by a mechanical positioning structure. The mechanical positioning structure includes multiple collimation marking lines (7) and multiple positioning fixing holes (8). The multiple collimation marking lines (7) are distributed on the axis of the dual-antenna satellite orientation unit, and multiple positioning fixing holes (8) are arranged in concentric circles with the center of the dual-antenna satellite orientation unit as the center.

12. A three-dimensional lightning detection method, characterized in that, include: Lightning detection is performed using the three-dimensional lightning detection device as described in any one of claims 1-11; The data processing compensation control module (6) in the three-dimensional lightning detection device outputs the lightning electromagnetic wave signal strength and the calibrated and corrected lightning angle data, and transmits the lightning electromagnetic wave signal strength and the calibrated and corrected lightning angle data to the lightning positioning center.

13. A readable storage medium, characterized in that, It contains an executable program, which, when executed, implements the three-dimensional lightning detection method as described in claim 12.

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