Portable urban low-altitude electromagnetic environment comprehensive monitoring terminal, self-organizing network monitoring array and monitoring and early warning method

Abstract

The application belongs to the technical field of low-altitude electromagnetic environment monitoring and unmanned aerial vehicle monitoring, and discloses a portable urban low-altitude electromagnetic environment comprehensive monitoring terminal, a self-organizing network monitoring array and a monitoring and early warning method. The monitoring terminal comprises a wave-transparent protective cover, a radar antenna, an automatic holder, a meteorological sensing assembly, a main control cabin and a supporting seat, and each component is coaxially arranged and connected in sequence from top to bottom through a shaft. The monitoring terminal adopts a vertical coaxial integrated structure, integrates electromagnetic spectrum, wind speed, wind direction, temperature and humidity multi-parameter monitoring functions, the self-organizing network monitoring array adopts a three-level distributed architecture to realize a centerless self-organizing network, and the monitoring and early warning method realizes intelligent early warning through multi-source data fusion and multi-dimensional early warning criteria. The application improves the functional integration and portability of the equipment, can realize global monitoring of the urban low-altitude environment, and provides protection for the safety of unmanned aerial vehicle navigation.

Description

Technical Field

[0001] This invention belongs to the field of low-altitude electromagnetic environment monitoring and UAV navigation safety technology. Specifically, it relates to a portable urban low-altitude electromagnetic environment integrated monitoring terminal, a self-organizing network monitoring array built based on the terminal, and corresponding monitoring and early warning methods. It is applicable to scenarios such as urban low-altitude UAV navigation safety assurance, radio spectrum monitoring, emergency rescue, and low-altitude logistics route environmental monitoring. Background Technology

[0002] With the rapid development of the low-altitude economy, urban low-altitude drones are increasingly widely used, covering multiple fields such as logistics delivery, emergency rescue, urban inspection, and aerial surveying. However, the complex electromagnetic environment and dynamically changing weather conditions in cities pose severe challenges to the autonomous navigation of drones: on the one hand, the presence of numerous civilian and commercial radio frequency signals in cities can easily interfere with the remote control and image transmission signals of drones, leading to loss of control and communication; on the other hand, sudden changes in wind speed, wind direction, and other weather conditions can affect the flight stability of drones and even cause flight accidents. In existing technologies, electromagnetic environment monitoring devices and meteorological monitoring devices are usually set up independently, and they suffer from problems such as limited functionality, large size, high power consumption, and difficulty in high-density deployment in cities.

[0003] Existing monitoring equipment has many shortcomings: 1. Limited functionality: For example, the urban environmental monitoring device disclosed in the prior art CN212133727U, which is easy to install, can only monitor conventional environmental parameters such as wind speed, wind direction, PM2.5, PM10, temperature and humidity. It does not have electromagnetic spectrum monitoring capabilities and cannot meet the electromagnetic environment perception requirements of UAVs for autonomous navigation. Existing spectrum monitoring devices usually only focus on electromagnetic signal detection and cannot simultaneously acquire meteorological parameters, thus failing to achieve coordinated perception of the electromagnetic and meteorological environments.

[0004] 2. Large size and poor portability: Most existing monitoring equipment is designed as a separate unit, with the electromagnetic monitoring module and the meteorological monitoring module set up independently. The overall size is large and the power consumption is high, making it difficult to carry out high-density grid deployment in cities and unable to achieve full coverage monitoring of the urban low-altitude area.

[0005] 3. Lack of collaborative early warning capabilities: Existing monitoring equipment can only provide early warning for a single parameter, and cannot combine the coupled state of electromagnetic environment and meteorological environment to provide comprehensive risk early warning, thus failing to provide comprehensive safety assurance for UAV navigation.

[0006] 4. Poor deployment flexibility: The existing monitoring equipment has a fixed installation structure and cannot be adapted to various installation carriers, such as street light poles, rooftops, and communication towers, resulting in low deployment efficiency and limiting the application scenarios of the equipment.

[0007] Therefore, there is an urgent need for a solution that is highly integrated, compact, easy to deploy quickly, and capable of monitoring both the electromagnetic spectrum and meteorological environment, as well as enabling multi-node self-organizing network collaborative monitoring. Summary of the Invention

[0008] The purpose of this invention is to provide a portable urban low-altitude electromagnetic environment integrated monitoring terminal, a self-organizing network monitoring array, and a monitoring and early warning method to solve the technical problems of existing environmental monitoring devices, such as single function, large size, poor portability, inability to comprehensively monitor urban low-altitude electromagnetic spectrum and meteorological environment, and lack of distributed networking and collaborative monitoring capabilities.

[0009] This invention provides the following technical solution: A portable urban low-altitude electromagnetic environment integrated monitoring terminal includes a wave-transparent protective cover, a radar antenna, an automatic gimbal, a meteorological sensor component, a main control cabin, and a support base. All components are coaxially arranged and connected sequentially from top to bottom via shafts.

[0010] A self-organizing network monitoring array for urban low-altitude electromagnetic environment uses multiple portable urban low-altitude electromagnetic environment integrated monitoring terminals as nodes and adopts a three-level distributed architecture of cloud data management layer - relay communication layer - terminal perception networking layer.

[0011] A method for self-organizing network monitoring and early warning of urban low-altitude electromagnetic environment, which uses the aforementioned self-organizing network monitoring array for self-organizing network monitoring and early warning.

[0012] Compared with the prior art, the beneficial effects of the present invention include at least the following: 1. High integration of structure and function: The monitoring terminal designed in this invention adopts a vertical coaxial integrated structure, which integrates multiple functions such as electromagnetic spectrum monitoring, wind speed monitoring, wind direction monitoring, temperature and humidity monitoring, and realizes the synchronous and collaborative perception of urban low-altitude environmental elements at the same location, breaking the limitations of existing equipment with single function and dispersed electromagnetic and meteorological monitoring.

[0013] 2. High portability and deployment flexibility: The terminal adopts a modular design, with a small overall size and light weight. It is equipped with an adjustable interlocking fixed chassis, which can be adapted to various external carrier components, such as street light poles, roofs, communication towers, etc., to achieve rapid deployment and improve the adaptability of the equipment to various application scenarios.

[0014] 3. Strong networking capability: The self-organizing network monitoring array adopts a three-level distributed architecture. The decentralized distributed self-organizing network protocol enables node self-discovery, automatic network entry, network self-healing and network expansion. No manual on-site configuration is required, and grid-based monitoring of the entire urban low-altitude area can be achieved.

[0015] 4. Comprehensive and accurate early warning: The monitoring and early warning methods combine multi-source data from the electromagnetic and meteorological environments, and achieve composite risk early warning through multi-dimensional early warning criteria. At the same time, a closed-loop mechanism of multi-terminal linkage push and retest feedback is adopted to provide full-process protection for the flight safety of UAVs. Attached Figure Description

[0016] Figure 1 This is a three-dimensional structural diagram of the portable urban low-altitude electromagnetic environment integrated monitoring terminal according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the main structure of the portable urban low-altitude electromagnetic environment integrated monitoring terminal according to an embodiment of the present invention; Figure 3 This is a rear view structural diagram of the portable urban low-altitude electromagnetic environment integrated monitoring terminal according to an embodiment of the present invention; Figure 4 This is a top view schematic diagram of the portable urban low-altitude electromagnetic environment integrated monitoring terminal according to an embodiment of the present invention; Figure 5 This is a bottom-view structural diagram of the portable urban low-altitude electromagnetic environment integrated monitoring terminal according to an embodiment of the present invention; Figure 6 This is a three-dimensional structural diagram of the adjustable interlocking fixed chassis of the portable urban low-altitude electromagnetic environment integrated monitoring terminal according to an embodiment of the present invention. Figure 7 This is a schematic diagram of the three-dimensional assembly structure of the portable urban low-altitude electromagnetic environment integrated monitoring terminal according to an embodiment of the present invention; Figure 8 This is a schematic diagram of the network architecture of the self-organizing network monitoring array for urban low-altitude electromagnetic environment according to an embodiment of the present invention; Figure 9 This is a schematic diagram of the main process of the self-organizing network monitoring and early warning method according to an embodiment of the present invention.

[0017] Figure 10 This is a schematic diagram of the network layering structure of the self-organizing network monitoring array for urban low-altitude electromagnetic environment according to an embodiment of the present invention; Figure 11 A schematic diagram of the software stack layered structure of the self-organizing network monitoring array for urban low-altitude electromagnetic environment in an embodiment of the present invention.

[0018] In the picture: 1. Wave-transparent protective cover; 11. Hinge buckle assembly; 12. Hinge base; 13. Buckle arm; 14. Fixing hole; 2. Wind vane; 21. Streamlined sensor head; 22. Directional guide tail fin; 3. Automatic gimbal; 31. Brushless micro servo gimbal; 32. Radar antenna; 4. Shaft; 5. Cross-shaped speed measuring fan blade; 51. Hollow cylindrical base; 52. Blade; 53. Center hole; 6. Main control compartment; 61. Compartment; 62. Bearing mounting slot; 63. Turntable bearing; 64. Shaft hole; 55. Heat dissipation hole; 66. Electrical interface; 67. Status indication and self-test unit; 7. Support base; 71. Cable hole; 8. Adjustable interlocking fixing chassis; 81. H-shaped base; 82. Upper clamping part; 83. Lower clamping part; 84. Clamping bolt. Detailed Implementation

[0019] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings and embodiments. The monitoring terminal of the present invention can adopt different configurations such as a general servo pan-tilt unit (Embodiment 1) or an automatic tracking pan-tilt unit (Embodiment 4), as long as it meets the requirements of coaxial layout and dynamic pointing tracking function.

[0020] Example 1 See Figure 1-7 The portable urban low-altitude electromagnetic environment integrated monitoring terminal provided in this embodiment is mainly designed to meet the safety monitoring needs of urban low-altitude UAVs. It adopts a layered, modular, and vertically coaxial structure design to achieve real-time integrated perception and processing of three-dimensional data of electromagnetic spectrum, meteorological elements, and geographic location. The overall design of the terminal in this embodiment adopts a vertically coaxial integrated structure of a spherical antenna housing, a ring-shaped meteorological ring, and a columnar main control cabin. The components, from top to bottom, are: a wave-transparent protective cover 1, a radar antenna 32, an automatic gimbal 3, a wind vane 2, a cross-shaped speed measuring fan blade 5, a main control cabin 6, a support base 7, and an adjustable interlocking fixed chassis 8. All components are arranged coaxially and are mechanically connected and electrically routed through a hollow shaft 4. The overall dimensions are 30cm×30cm×60cm, and the total weight of the whole machine without the battery is ≤10kg. It can be detachably deployed in various places such as urban rooftops, street light poles, communication towers, and vehicle-mounted brackets. The installation height above the ground is not less than 2m, and the radar monitoring coverage radius of a single terminal device (node) is ≥1000m.

[0021] The aforementioned wave-transparent protective cover 1 is a downward-opening hemispherical shape, positioned at the top of the terminal. It is made of a wave-transparent material (such as glass fiber reinforced polytetrafluoroethylene). Four support rods are symmetrically distributed circumferentially along the inner wall of the wave-transparent protective cover 1. The top of each support rod is hinged to the inner wall of the wave-transparent protective cover 1, and the lower end is fixed to the upper section of the shaft 4. The wave-transparent protective cover 1 is suspended above the top of the shaft 4, forming a rotation space above the top of the shaft 4 to accommodate the radar antenna and the automatic pan-tilt unit 3. The radar antenna and the automatic pan-tilt unit 3 can rotate omnidirectionally within this space. The wave-transparent protective cover 1 protects the lower components from rain, dust, and other corrosion, while simultaneously allowing wave transmission to ensure unobstructed and unattenuated electromagnetic signal transmission, and assisting in beam control.

[0022] An automatic gimbal 3 is mounted on top of the shaft 4 and includes a brushless micro servo gimbal 31 and an ambient temperature and humidity sensor. The lower section of the brushless micro servo gimbal 31 is embedded in the cavity channel of the upper section of the shaft 4. The radar antenna 32 is horizontally mounted on the upper surface of the brushless micro servo gimbal 31. Driven by the brushless micro servo gimbal 31, it can rotate and scan horizontally from 0 to 360 degrees and tilt from -30 degrees to +90 degrees, with a positioning accuracy of ±5°. The ambient temperature and humidity sensor is attached to the upper surface of the brushless micro servo gimbal 31 to collect ambient temperature and humidity data. Its sensing surface is in direct contact with the air environment inside the protective cover, and its placement avoids the antenna radiation direction to prevent interference with antenna signal reception. The automatic gimbal 3 is used to support and drive the radar antenna to rotate omnidirectionally, perform dynamic pointing tracking, and realize all-round electromagnetic signal acquisition of the monitored airspace.

[0023] Radar antenna 32 includes, but is not limited to, passive radar receiving antennas, directional receiving antennas, and combinations thereof, operating in the 100MHz–6GHz frequency band. It is used to receive electromagnetic wave signals from the monitored airspace, including UAV remote control and image transmission signals (2.4GHz / 5.8GHz / 1.4GHz). Furthermore, the monitoring terminal also includes a software-defined radio receiver (HackRF One), in which radar antenna 32 serves as its radio frequency front-end. Its signal processing module and firmware are located on the main control circuit board in the main control compartment 6, used for full-band scanning (such as 88-108MHz FM broadcast, 2.4GHz / 5GHz Wi-Fi bands), real-time spectrum and signal strength measurement, and wireless environment assessment, interference source location, and spectrum occupancy analysis.

[0024] The meteorological sensing components include a wind speed sensing component (including a cross-shaped speed measuring blade 5 and a Hall effect sensor) and a wind direction sensing component (including a wind vane 2 and a 3D Hall angle sensor), which are installed in the middle section of shaft 4, wherein: The cross-shaped speed measuring blade 5 consists of a hollow cylindrical base 51 integrally injection molded and four radial blades 52 evenly distributed on its outer sidewalls. The hollow cylindrical base 51 is equipped with a Hall effect sensor, including anode and cathode magnetic plates symmetrically embedded on both sides. The magnetic pole direction of the magnetic plates is perpendicular to the axis of the shaft 4. The central hole 53 of the hollow cylindrical base 51 is clearance-fitted with the shaft 4, and a slot adapted to the output shaft of the turntable bearing 63 is opened on its lower end face. The natural airflow drives the blades 52 to drive the hollow cylindrical base 51 to rotate around the shaft 4 without contact. The synchronous rotation of the anode and cathode magnetic plates causes the magnetic flux passing through the metal coil of the shaft 4 to periodically alternate. The coil generates an alternating induced electromotive force positively correlated with the rotational speed. This signal is transmitted to the data acquisition module in the main control cabin 6. The blade rotational speed is calculated by detecting the frequency of the induced electromotive force and converted into a wind speed value.

[0025] The wind vane 2 is mounted on the upper section of the shaft 4, located between the lower end of the wave-transparent protective cover 1 and the upper end of the cross-shaped speed measuring blade 5. It is made of lightweight engineering plastic injection molding and has a streamlined shape to reduce wind resistance. It includes a rotary bearing, a streamlined sensor head 21, a directional guide tail fin 22, and an integrated angle sensing plate. The rotary bearing is clearance-fitted with the shaft 4, and the mating surfaces are coated with high-temperature grease, allowing the wind vane 2 to rotate flexibly around the shaft 4. When the directional guide tail fin 22 is driven by natural airflow, it drives the streamlined sensor head 21 to accurately point in the direction of the wind. A 3D Hall angle sensor is fixed to the position of the angle sensing plate of the wind vane 2 on the shaft 4 by a clamp. It has a non-contact cooperation with the angle sensing plate and a detection accuracy of ±1°. It can collect the absolute azimuth angle of the wind vane 2's rotation from 0 to 360° in real time, which is the true external wind direction.

[0026] The shaft 4 is made of non-magnetic metal material (such as aluminum alloy 6061), which combines lightweight and high strength, excellent precision machinability and outdoor corrosion resistance, and does not interfere with magnetic field conduction and the functional cooperation between various components. The shaft 4 has an axial through-type hollow cable routing channel inside, which is open at both ends, providing an independent and sealed cable routing space for the internal cable routing of the terminal. A multi-turn metal coil is sleeved on the side wall of the channel, and the lead wires at both ends of the coil are routed along the inner wall of the channel and connected to the terminal block at the lower outlet. The upper end of the shaft 4 is rigidly connected to the output end of the brushless micro servo gimbal 31 via a flat key and a set screw. The lower end passes through the center hole 53 of the cross-shaped speed measuring fan blade 5 and the shaft hole 64 of the main control compartment 6 in a clearance fit. The mating surfaces of the shaft 4 and each through-part are all machined with high precision and lubricated with grease to reduce rotational friction and wear. The control cables of the brushless micro servo gimbal 31, the radio frequency cables of the radar antenna 32, the temperature and humidity sensor cables, and the sensing cables of the cross-shaped speed measuring fan blade 5 all enter from the hollow cable routing channel inside the shaft 4, extend downward along the channel axis, and exit from the outlet at the lower end of the shaft 4 to make electrical connections with the corresponding functional modules in the main control compartment 6. All cables are hidden inside the channel and have no external exposed wiring.

[0027] The main control compartment 6, serving as the core control, data processing, and communication interaction component of the terminal, has a compartment 61 made of die-cast aluminum alloy, balancing structural strength, heat dissipation performance, and counterweight requirements. The upper surface of compartment 61 has a bearing mounting groove 62 and a coaxial shaft hole 64. The turntable bearing 63 is embedded in the bearing mounting groove 62 with an interference fit. The outer ring of the bearing is fixed to the groove wall, while the inner ring forms a clearance fit with the lower end slot of the cross-shaped speed measuring fan blade 5, ensuring stable rotational support for the cross-shaped speed measuring fan blade 5. The shaft hole 64 allows the shaft rod 4 to pass through. The mating surfaces of the shaft rod 4 and the shaft hole 64 are polished and coated with high-temperature grease to reduce rotational friction and wear. Furthermore, fluororubber sealing rings are added to the mating points of the bearing mounting groove 62 and the shaft hole 64 to achieve IP65-level sealing protection, preventing rainwater and dust from entering the compartment. The side wall of the compartment 61 has a heat dissipation hole 65, which precisely corresponds to the heat dissipation surface of the internal module to form a natural convection heat dissipation channel. It also integrates multiple electrical interfaces 66, including a SIM card slot, a USB interface, and a PoE++ network port. The lower surface of the compartment 61 is detachably fixed to the upper part of the support base 7 by circumferentially distributed hexagonal bolts. A rubber sealing gasket is added to the connection surface to ensure connection stability and waterproof sealing effect. Meanwhile, the main control compartment 6 places the heavier power management module and network communication module in the lower part of the compartment 61, forming a graded counterweight structure with the support base 7 to optimize the overall center of gravity of the terminal and improve the anti-overturning ability of the equipment in strong wind environment.

[0028] The main control compartment 61 is a hollow internal structure formed by a cylindrical metal shell. The upper end face of the metal shell has a turntable bearing mounting groove and a compartment shaft hole at its center, and the lower end face has a wire hole at its center. A turntable bearing is installed in the turntable bearing mounting groove. The lower section of the shaft passes through the turntable bearing and the compartment shaft hole and is fixed in the inner ring stationary part of the turntable bearing and the compartment shaft hole. The outer ring rotating part of the turntable bearing contacts the lower end face of the cross-shaped speed measuring blade, providing support for the rotation of the cross-shaped speed measuring blade.

[0029] The main control cabin 6 houses a main control circuit board within compartment 61. This circuit board includes a main control unit, an edge computing unit, a data acquisition unit, a Mesh self-organizing network module, and a network communication module (supporting 4G / 5G public network communication). It is used for data reception, real-time signal processing, node control, data preprocessing, and network communication, as well as controlling the dynamic pointing and tracking of the automatic gimbal 3. The data acquisition unit integrates a magnetoelectric anemometer and an electromagnetic signal processing submodule. The magnetoelectric anemometer receives the induced electrical signal from the cross-shaped speed measuring blade 5 and the azimuth signal from the wind vane 2 angle detection module, achieving synchronous and accurate acquisition of wind speed and direction. The electromagnetic signal processing submodule processes the electromagnetic signals acquired by the radar antenna 32, enabling functions such as spectrum analysis and interference source localization.

[0030] The support base 7 is a hollow cylinder containing a lithium battery module and a power adapter, providing power, physical support, and bottom counterweight for other components. The lithium battery module uses a high-capacity lithium iron phosphate battery, providing a battery life of ≥24 hours, and also supports solar charging (can be connected to an external solar panel) to enhance the device's outdoor endurance; the power adapter supports direct connection to AC power.

[0031] The adjustable interlocking mounting chassis 8 has an H-shaped cross-section. Its upper opening is detachably connected to the lower section of the support base 7, and its lower opening is detachably connected to the external vehicle component. It is used to fix the support base 7 and its upper components as a whole to the external vehicle component at different heights and positions for the deployment of monitoring terminal nodes. The adjustable interlocking fixing chassis 8 includes an H-shaped base 81. The upper end of the H-shaped base 81 forms an upper clamping part 82, and the lower end forms a lower clamping part 83. The upper clamping part 82 is detachably clamped to the lower part of the support base 7, and the lower clamping part 83 is used to clamp to the external mounting carrier. Two clamping bolts 84 are provided on both sides of the upper clamping part 82 and the lower clamping part 83. The clamping force is applied to the support base 7 and the mounting carrier by manually tightening the clamping bolts 84, and the clamping force is adjusted by manually adjusting the screw depth of the clamping bolts 84. The clamping surfaces of the upper clamping part 82 and the lower clamping part 83 are designed to be compatible and can be adapted to objects with various cross-sectional shapes, such as cylindrical street light poles and square brackets.

[0032] The monitoring terminal in this embodiment integrates multiple parameter monitoring functions such as electromagnetic spectrum, wind speed, wind direction, temperature and humidity. It achieves accurate real-time detection of wind direction through an independent wind vane structure, and the automatic pan-tilt unit is dedicated to electromagnetic spectrum detection and scanning. The functions are clearly divided, resulting in higher detection accuracy. It breaks through the limitations of existing equipment with single functions and dispersed electromagnetic and meteorological monitoring, and can realize the same-point, synchronous collaborative perception of urban low-altitude environmental elements.

[0033] This monitoring terminal, through a combination design of hollow cable routing channels in the shaft, magnetoelectric passive wind speed detection, and graded counterweights for the main control cabin and support base, not only solves the contradiction between internal cable routing and external sensor mounting, achieving miniaturization and low power consumption of the terminal, but also effectively lowers the terminal's center of gravity, enabling the terminal to remain stable even in strong winds of level 10, significantly improving the equipment's anti-overturning ability in urban high-altitude strong wind environments.

[0034] This monitoring terminal features an adjustable interlocking mounting base with a compatible snap-fit ​​design. Combined with manually tightened bolts, it can be fitted with various external mounting carriers of different cross-sectional shapes, such as round and square (round with a diameter of 50-150mm or square with a side length of 40-140mm). It can achieve rapid fixation and deployment of the terminal without the need for special clamps. At the same time, the overall modular design of the terminal combines the flexibility of fixed and mobile deployment, greatly expanding the application scenarios of the equipment.

[0035] Example 2 See Figure 8 This embodiment provides an urban low-altitude electromagnetic environment self-organizing network monitoring array using the monitoring terminal described in Embodiment 1. Its overall network architecture adopts a three-level distributed architecture: cloud data management layer - relay communication layer - terminal sensing network layer, wherein: 1. Terminal Sensing Network Layer: This layer consists of multiple monitoring terminals acting as monitoring nodes, deployed to appropriate locations according to gridding rules or actual needs. Each monitoring terminal is an independent network node, with a node spacing of ≤1000m (matching performance parameters for a single terminal monitoring coverage radius ≥1000m), achieving seamless coverage of the monitoring area. Each node uses a built-in self-organizing network module to achieve point-to-point / point-to-multipoint wireless self-organizing network, forming a distributed, decentralized local area communication network.

[0036] 2. Relay Communication Layer: This layer consists of monitoring terminal nodes (relay nodes) with public network communication capabilities in the terminal sensing network layer. The relay nodes are randomly selected ordinary monitoring terminals that rely on their built-in network communication modules (4G / 5G cellular communication + PoE++ wired communication) to achieve bidirectional interaction between local self-organizing network data and cloud data management layer without the need to add dedicated relay equipment.

[0037] 3. Cloud Data Management Layer: Consists of cloud servers and supporting data analysis and early warning management platforms. It receives full-domain monitoring data uploaded by relay nodes, completes in-depth data fusion, storage, and visualization, and realizes early warning judgment and early warning command issuance based on preset criteria.

[0038] This network adopts a decentralized distributed self-organizing network protocol (such as LoRa Mesh) and networking algorithms (such as AODV and DSDV). It relies on the self-organizing network module built into the monitoring terminal to achieve fully automated networking without requiring manual on-site configuration. The specific networking process is as follows: Node self-discovery: After the newly deployed monitoring terminal completes its power-on self-test, the self-organizing network module automatically enters scanning mode to search for signals of nearby network-connected nodes; Automatic network access: The new node sends a network access request to the existing network node with the best signal strength in the vicinity. After identity verification, the network address is allocated and the node joins the local self-organizing network. Network self-healing: When a node fails, loses power, or its communication link is blocked, surrounding nodes monitor the link status in real time, automatically replan the communication path, and have the monitoring data of the faulty node supplemented by adjacent nodes, while simultaneously reconstructing the data forwarding link. Network expansion: When the monitoring area expands, newly added monitoring terminals will automatically join the network according to the above process, and multiple subnets can be cascaded through relay nodes.

[0039] The working principle of the data interaction process is as follows: The network data flow adopts a two-way interactive mode of distributed acquisition → inter-node collaborative forwarding → relay node aggregation → cloud upload → cloud command issuance. Each monitoring terminal node independently collects electromagnetic and meteorological multi-source data for its own monitoring area, including electromagnetic spectrum, wind direction, wind speed, temperature, and humidity data. This data undergoes preliminary preprocessing and spatiotemporal tag binding (BeiDou / GPS positioning + timestamp) in the local main control cabin. The preprocessed node data is forwarded to surrounding nodes via the LoRa self-organizing network module and aggregated to the relay node according to the shortest path principle. The relay node integrates the monitoring data from all nodes in the region and uploads it to the cloud data management layer via 4G / 5G cellular communication or PoE++ wired communication. After completing data fusion and early warning determination, the cloud data management layer issues early warning commands and network configuration commands to all monitoring terminal nodes in the network through the relay nodes.

[0040] This embodiment uses multiple monitoring terminals as networking nodes to build a three-level distributed self-organizing network monitoring array. Relying on the self-organizing network module and network communication module built into the terminal, it realizes decentralized, self-discovery, and self-healing automated networking and collaborative transmission and aggregation of data across the entire area. No additional dedicated communication equipment is required. This solves the problems of existing decentralized monitoring that cannot achieve data sharing and have limited monitoring coverage. The coverage radius of a single node is ≥1000m, and multiple nodes can be combined to achieve a larger area to meet the needs of urban low-altitude grid-based full-area monitoring.

[0041] Example 3 Referring to Figure 9, the urban low-altitude electromagnetic environment self-organizing network monitoring and early warning method provided in this embodiment adopts the urban low-altitude electromagnetic environment self-organizing network monitoring array in Embodiment 2, and includes the following steps: S1: Monitoring terminal node multi-source data acquisition and local preprocessing After each monitoring terminal node in the network is powered on, it completes the acquisition of multi-source environmental data in its own monitoring area through its built-in hardware module: Relying on the automatic gimbal 3, electromagnetic spectrum data acquisition in the 100MHz–6GHz frequency band is completed. The brushless micro servo gimbal 31 drives the radar antenna 32 to complete continuous scanning from 0 to 340 degrees horizontally and from -30 degrees to +90 degrees in pitch, accurately acquiring electromagnetic spectrum parameters (signal strength, frequency, modulation method) and the location of interference sources. Real-time wind direction data acquisition (accuracy ±1°) is completed using the 3D Hall angle sensor of the wind vane 2; wind speed data acquisition is completed using the magnetoelectric induction principle of the cross-shaped speed measuring blade 5; and ambient temperature and humidity data acquisition is completed using the patch-type temperature and humidity sensor. The terminal main control unit binds high-precision spatiotemporal tags to all collected electromagnetic, wind direction, wind speed, temperature and humidity data, namely Beidou / GPS three-dimensional geographic coordinates (positioning error ≤10cm) + millisecond-level timestamps, to achieve precise alignment of time and spatial axes of multi-source data; The data acquisition unit inside the main control cabin performs preliminary filtering and noise reduction preprocessing on the multi-source data bound with spatiotemporal tags, removes invalid data, and forms standardized node monitoring data packets; S2: Distributed transmission and global data aggregation in self-organizing network array Each monitoring terminal node will transmit the pre-processed standardized monitoring data packets in a distributed manner through the self-organizing network module according to the network's preset communication rules: Each node sends its own monitoring data packets to neighboring nodes using a broadcast + targeted forwarding method. After receiving the data, the neighboring nodes perform integrity verification on the data, and continue to forward it after the verification is successful. Monitoring data packets from all nodes converge to relay nodes within the network according to the shortest path principle. After receiving the monitoring data packets from all nodes in the network, the relay nodes unify and integrate the data formats to form a full-domain monitoring dataset. If a communication link is interrupted at a node, surrounding nodes will automatically collect environmental data from the monitored area of ​​that node to ensure the integrity of the entire monitoring dataset.

[0042] S3: Cloud-based uploading and multi-source spatiotemporal fusion processing of full-domain monitoring data The relay node uploads the integrated global monitoring dataset to the cloud data management layer via a network communication module (4G / 5G cellular communication is the preferred method, wired communication is the backup method). The cloud platform then performs deep multi-source spatiotemporal fusion processing on the global monitoring dataset. Spatiotemporal calibration of the full-area monitoring dataset is performed. Based on the spatiotemporal labels of each node, the distributed node data is mapped to the urban low-altitude three-dimensional geographic grid model to form a full-area electromagnetic-meteorological environment three-dimensional map of the monitoring area. The map synchronously displays the electromagnetic spectrum distribution, real-time wind direction and azimuth, wind speed, and temperature and humidity gradient of each area. The data in the 3D map are correlated and analyzed to explore the coupling relationship between the electromagnetic environment and meteorological elements (such as the influence of wind speed and wind direction on the propagation of electromagnetic signals). The map is updated in real time, and the update frequency is consistent with the data acquisition frequency of the terminal node (1 time / second).

[0043] S4: Multi-dimensional intelligent early warning judgment based on preset criteria Based on the safety requirements of urban low-altitude drone navigation, the cloud-based data management layer pre-sets three-level, multi-dimensional early warning criteria and relies on the fused three-dimensional electromagnetic-meteorological environment map to achieve real-time early warning judgment for the monitored area. Electromagnetic interference warning: The preset threshold is that there is an illegal radio frequency signal in the frequency band of 100 MHz - 6 GHz within the monitoring area, the signal strength ≥ the preset threshold (such as -85 dBm), and the interference source persists for ≥ 5 s. The cloud platform identifies the electromagnetic signal characteristics in the spectrum. If the above thresholds are matched, it is determined as an electromagnetic interference warning, and information such as the three-dimensional geographical coordinates, signal frequency, and strength of the interference source is marked.

[0044] Meteorological anomaly warning: The preset threshold is that the wind speed in the monitoring area ≥ 10 m / s (or adjusted according to the UAV model), and the sudden change of temperature and humidity ≥ the preset threshold. The cloud platform identifies the meteorological element data in the spectrum. If the above thresholds are matched, it is determined as a meteorological anomaly warning, and information such as the three-dimensional geographical coordinates of the abnormal meteorological area and the change values of wind speed / temperature and humidity is marked.

[0045] Wind - electromagnetic coupling warning: The preset threshold is that there is an electromagnetic interference signal + wind speed ≥ 8 m / s + the true wind direction collected by the wind vane is the same as the electromagnetic signal propagation direction (accelerating the propagation of electromagnetic interference) in the monitoring area. The cloud platform explores the coupling relationship between electromagnetic elements and meteorological elements. If the above thresholds are matched, it is determined as a wind - electromagnetic coupling warning (highest level), and information such as the three-dimensional geographical coordinates of the coupling abnormal area, interference source information, and meteorological parameters is marked.

[0046] In specific applications, the following reference thresholds can be adopted: Electromagnetic interference warning: When the intensity of the monitored electromagnetic signal exceeds -30 dBμV / m and the duration exceeds 5 seconds, it is determined as an electromagnetic interference warning; Meteorological anomaly warning: When the wind speed exceeds 12 m / s, or the sudden change range of environmental temperature and humidity exceeds 10% / 10℃, it is determined as a meteorological anomaly warning; Wind - electromagnetic coupling warning: When the wind speed exceeds 8 m / s and there is an electromagnetic interference signal with an intensity exceeding -40 dBμV / m at the same time, it is determined as a wind - electromagnetic coupling warning; S5: Hierarchical release of warning information and multi - terminal linked push The cloud data management layer classifies and releases the warning information according to the warning level based on the warning determination result: Warning level classification: Level 1 warning (red): Wind - electromagnetic coupling warning, indicating a serious safety risk of UAV flight in the monitoring area; Level 2 warning (orange): Electromagnetic interference warning or meteorological anomaly warning, indicating a local safety risk of UAV flight in the monitoring area; Level 3 warning (yellow): Potential risk warning that electromagnetic / meteorological parameters are close to the preset threshold.

[0047] Multi - terminal linked push: Early warning information is pushed to the urban low-altitude drone management platform and drone navigation control terminal, including warning level, three-dimensional geographic coordinates of abnormal area, abnormal parameters (including real-time wind direction and wind speed), risk warning, etc., to guide drones to adjust their flight paths and avoid dangerous areas. Push early warning information to the monitoring terminals of radio management departments and meteorological departments to provide data support for manual intervention and emergency response; The relay node sends the warning command to all monitoring terminal nodes in the self-organizing network array. The terminal provides local warning prompts through the status indication unit 67 (level 1 warning is a high-frequency flashing red light, level 2 warning is a low-frequency flashing red light, and level 3 warning is a flashing yellow light).

[0048] S6: Status feedback and network retesting after early warning handling Once the safety risks in the warning area have been addressed, the cloud-based data management layer issues a retest command to the ad hoc network array. Relay nodes forward these commands to the monitoring terminal nodes in the warning area. The nodes conduct focused retests of the warning area, collecting electromagnetic, wind direction, wind speed, temperature, and humidity data, and re-uploading them to the cloud following the steps outlined above. The cloud platform analyzes the retest data. If the risk is determined to be eliminated, the warning is lifted and a safety alert is issued; if the risk persists, the warning continues and is pushed to relevant monitoring terminals until the risk is eliminated. Specifically, the main control unit built into the main control cabin receives the retest command (specific command code) from the cloud, controls each sensor to enter high-frequency sampling mode or a specific frequency band scanning mode, and uploads the retest data.

[0049] This embodiment achieves spatiotemporal fusion of multi-source data and constructs a three-dimensional electromagnetic-meteorological environment map by binding high-precision spatiotemporal tags with BeiDou / GPS three-dimensional geographic coordinates and millisecond-level timestamps to the monitoring data. At the same time, it presets three-level multi-dimensional early warning criteria for electromagnetic interference, meteorological anomalies, and wind-electromagnetic coupling. With the closed-loop mechanism of multi-terminal linkage push and retest feedback, it accurately identifies the complex safety risks of UAV navigation and provides full-process protection for the safety of urban low-altitude UAV navigation.

[0050] Example 4 See Figure 10-11 Based on Embodiments 1 to 3, this embodiment provides an optimized urban low-altitude electromagnetic environment monitoring terminal, self-organizing network monitoring array, and monitoring and early warning method. The difference is that this embodiment provides a distributed low-altitude UAV monitoring self-organizing network monitoring scheme based on MFD Mini AAT automatic tracking gimbal and low-cost SDR. This scheme highlights low cost, easy deployment, and scalability, and is suitable for building a large-scale monitoring network.

[0051] (a) Monitoring terminals (nodes) The Auto Gimbal 3 uses an MFD Mini AAT auto-tracking gimbal with 360° horizontal and 90° vertical rotation, a rotation speed of ≥60° / s, and a positioning accuracy of ±0.5°. It supports GPS / Compass fusion pointing and is used to drive the directional antenna to automatically track the target. The radar antenna 32 specifically adopts the HyperLOG 4025 X directional receiving antenna and a 2.4G / 5.8G dual-band omnidirectional antenna; The software radio receiver uses HackRF One, 1MHz-6GHz, 8-bit quantization, 20MSPS sampling rate, half-duplex, and supports external clock input (CLK IN); in other embodiments, the software radio receiver (SDR) includes, but is not limited to, general software radio peripherals such as HackRF One and USRP.

[0052] The PCB circuit board inside the main control compartment 6 integrates the main control unit (industrial-grade low-power microprocessor), data acquisition unit, self-organizing network module (Mesh networking module, SX1276 LoRa module, 433MHz band, communication distance 3-5km), network communication module (4G / 5G industrial router, such as Dandelion R300A, including 4G / 5G cellular communication module and PoE++ wired communication module), power management module and status indicator unit 67, clock synchronization module (GPSDO module, such as BG7TBL or u-blox LEA-M8F), and edge computing unit (Raspberry Pi 5, 8GB RAM, for local real-time signal processing, node control, and data preprocessing). Each module is fixed to the interior cavity of the compartment via the PCB circuit board, and the modules are electrically connected by shielded cables. The Mesh self-organizing module supports distributed networking modes with node self-discovery, self-organization, and self-healing. The power management module is electrically connected to the energy storage lithium battery pack built into the support base 7 (as well as external AC power or solar panels), enabling intelligent power distribution, charge / discharge management, overvoltage, overcurrent, and overheat protection, and seamless switching between AC power and PoE++ dual power supply. The status indicator unit 67 integrates multi-color indicator lights (green / blue / white / red), providing intuitive feedback on the terminal's power-on self-test, normal operation, power supply mode, network connection, and fault alarm status through different colors and flashing frequencies.

[0053] The power management module includes: a lithium battery pack (12V / 100Ah), an MPPT controller, and a power adapter. It may also include an external solar panel (100W). It supports continuous operation for 3 days in cloudy or rainy weather and supports PoE power supply.

[0054] The support base 7 is a counterweight type support base, forming a closed battery housing cavity inside. The terminal's energy storage battery (lithium iron phosphate battery, with a range of approximately 2.5 hours) is fixed in this battery housing cavity with an interference fit, forming the core counterweight structure of the support base. A wiring hole 71 is opened on the upper part of the support base 7, through which the functional components inside the main control compartment 6 are electrically connected to the built-in energy storage battery. The lower part of the support base 7 is locked and fixed to the adjustable interlocking chassis 8 by clamping bolts 84. Through the graded counterweight design of the counterweight type support base 7 and the main control compartment 6, the terminal's center of gravity layout is optimized: the heaviest energy storage battery is integrated inside the support base 7, shifting the terminal's center of gravity to the connection node between the support base and the chassis. Combined with the auxiliary counterweight of the main control compartment 6, a stable center of gravity structure with a heavy bottom and a light top is formed, enabling the terminal to remain stable even in a level 10 strong wind environment. The weight of a single node (monitoring terminal) in this embodiment is <15kg (including battery), and the power consumption of a single node is <30W (average) and <50W (peak, when the pan-tilt unit is rotating).

[0055] This embodiment provides a high-precision distributed passive radar monitoring network for key urban areas. It employs a standard 4-node configuration and utilizes a hybrid TDOA (Time Difference of Arrival) and AOA (Angle of Arrival) positioning technology to achieve high-precision passive monitoring of low-altitude UAVs (positioning accuracy <10m, coverage radius 5-8km). Its features include: passive monitoring, emitting no electromagnetic signals, only receiving UAV remote control and image transmission signals (2.4GHz / 5.8GHz / 1.4GHz); automatic tracking and orientation, using an MFD MiniAAT automatic gimbal-driven directional antenna for dynamic pointing and tracking; high-precision time and frequency synchronization, with a GPS disciplined clock (GPSDO) enabling nanosecond-level time synchronization across multiple nodes and supporting TDOA positioning; and heterogeneous network backhaul, combining 4G / 5G public network backhaul with a private LoRaMesh control channel to ensure reliable communication in complex urban environments.

[0056] A standard array network consisting of 4 nodes is used. The main hardware configuration list of a single node is shown in Table 1: Table 1

[0057] (ii) Clock Synchronization Architecture (TDOA) Synchronization solution: GPS-disciplined oven-controlled crystal oscillator (OCXO) or temperature-compensated crystal oscillator (TCXO) PPS signal: The GPS module outputs a 1Hz pulse signal (Pulse Per Second), which is connected to the Raspberry Pi's interrupt pin via GPIO, and the sampling time is recorded by software. 10MHz Reference Clock: GPSDO outputs a 10MHz sine wave, which is connected to the CLK IN port of HackRF to achieve multi-node local oscillator coherence; Timestamp alignment: Each node broadcasts its local PPS arrival time through the LoRa network, and compensates for transmission delay through the network protocol to achieve time synchronization accuracy of ±50ns. TDOA positioning accuracy calculation: Time synchronization error 50ns → Distance error = 50ns × 3 × 10 8 m / s = 15m Combining AOA angle intersection (accuracy ±1°@5km = ±87m), and after Kalman filtering fusion, the overall positioning accuracy can reach <10m (CEP).

[0058] (III) Software Stack Layered Structure See Figure 10 It adopts a four-layer layered architecture, in which: Application layer (cloud server / command center): AI models and other applications are built into the cloud server to handle tasks such as drone identification, multi-source data fusion, situation display, and early warning push. Network transport layer (4G VPN / private cloud): Handles tasks such as data encryption, node management, remote upgrades, and clock synchronization protocols (NTP / PTP); Edge computing layer (Raspberry Pi Linux): Processing signal streams, positioning calculations, control drives, and other tasks; Hardware Abstraction Layer: Handles tasks such as HackRF driver, GPS PPS driver, LoRa driver, and PTZ PWM control.

[0059] Each node connects and communicates with the edge computing layer via USB 3.0, GPIO / SPI, UART interfaces or protocols.

[0060] (iv) Core Software Modules (1) Signal detection and recognition module (based on GNU Radio) Flowchart design: osmocom Source (HackRF driven) → FFT Filter (channel selection) → PowerDetector (energy detection) → Message Sink; Feature extraction: Extract frequency hopping pattern (FHSS), signal bandwidth, and frame structure features to distinguish between protocols such as DJI OcuSync, Wi-Fi 802.11n / ac, and analog video transmission; Detection sensitivity: better than -90dBm (with LNA); (2) Automatic tracking control module Control logic: When the signal strength > threshold (e.g., -80dBm), start tracking mode; Algorithm flow: Coarse scan: The pan-tilt unit scans the horizontal plane in 30° steps to record the location of the maximum signal strength; Precise tracking: Employs a maximum tracking algorithm (Hill Climbing) to adjust the gimbal angle based on signal strength changes, keeping the antenna beam aligned with the target; Predictive tracking: Combining historical trajectories, α-β filtering is used to predict the azimuth at the next moment, compensating for the gimbal rotation delay (<200ms). (3) TDOA solution module Signal Acquisition: After detecting the drone signal, each node broadcasts the timestamp (T1, T2, T3, T4) and signal feature fingerprint (bandwidth, center frequency) via LoRa. Hyperbolic positioning: Select the three nodes with the strongest signal strength and calculate the signal arrival time difference (Δt). 12 , Δt 13 Construct a system of hyperbolic equations: ; The target coordinates (x, y) can be solved using the Chan algorithm or the Taylor series expansion method. (4) AOA intersection module Angle measurement: Directly read the current azimuth angle of the MFD Mini AAT gimbal (via PWM feedback or encoder value returned from the serial port, with an accuracy of ±0.5°). Least Squares Intersection: Finding the Optimal Intersection Point for Multi-Node AOA Line Intersections.

[0061] (5) Data fusion and filtering Kalman filtering: Fusion of TDOA position (high accuracy but slow update, 1Hz) and AOA angle (fast update, 10Hz) to generate a smooth trajectory. NLoS (non-line-of-sight) suppression: Utilizing urban electronic maps to identify multipath reflection areas and reduce positioning errors.

[0062] (V) Network Monitoring and Early Warning Workflow The system deployment topology is as follows: 1. Typical node layout (urban core area, such as a square within a 3km radius): Node 1: Central high point (top of the building), coordinates (0,0), omnidirectional coverage; Nodes 2-4: Deployed at the edge, 2-3km from the center, in an equilateral triangle distribution, with coordinates (2500,0), (-1250,2165), (-1250,-2165); Baseline length: 2.5-4.3km, ensuring TDOA geometric precision factor (GDOP) <3; 2. Workflow sequence T0: System Initialization ├─ Each node uses GPS positioning to obtain its own precise coordinates (WGS-84); ├─ GPSDO locks onto satellites, outputting stable PPS and a 10MHz clock; ├─ HackRF calibrates the clock, and the Raspberry Pi records clock deviations; └─ Nodes register with the center via 4G to establish a VPN tunnel; T1: Wide-area scan (omnidirectional mode) ├─ Each node's omnidirectional antenna continuously scans the 2.4G / 5.8G frequency band (in 1MHz steps); Upon signal detection, record: frequency f, bandwidth BW, signal strength RSSI, and timestamp t. └─ Broadcast "Target Found" alert via LoRa (delay <100ms); T2: Collaborative Confirmation (Directed Mode) ├─ Upon receiving an alarm, a nearby node (distance < 5km) switches to the corresponding frequency; ├─ MFD Mini AAT Startup: Quickly rotate from the current position towards the approximate location of the signal source; Each node independently performs "maximum tracking" to lock in the optimal receiving angle; └─ Continuous output: Azimuth Az, Elevation E1, RSSI, signal quality; T3: Location Solving (Fusion Mode) ├─ The central server collects (Az, El, t, RSSI) data from 4 nodes; ├─ Select the 3 nodes with the highest time synchronization accuracy for TDOA calculation; ├─ Combining AOA perspective with weighted least squares fusion; Output target position: (Lat, Lon, Alt), accuracy <10m, update rate 1Hz; T4: Continuous Tracking and Forecasting ├─ Each node's gimbal continuously tracks the target based on the predicted angle (update rate 10Hz); If the target moves out of the current node's field of view, the tracking will automatically switch to a nearby node. ├─ Record flight paths and identify takeoff and landing points (Hoovering detection); └─ Generate a threat level and push it to the command platform; T5: Multi-objective processing ├─ Use frequency hopping separation or beam splitting technology to distinguish multiple drones; ├─ Assign a unique ID to each target and establish a separate tracking thread; └─ Supports simultaneous tracking of ≥4 targets (limited by node computing power).

[0063] (vi) Main operating parameters and technical specifications 1. Monitoring performance indicators are shown in Table 2. Table 2

[0064] 2. Environmental adaptability Operating temperature: -20°C ~ +60°C; Protection rating: IP65 (dustproof and waterproof), IK08 (shockproof); Power supply: Solar power + lithium battery, supporting 72 hours of off-grid operation; supports 220V AC mains power connection; Wind resistance: The directional antenna can withstand wind speeds up to level 9 (20m / s), and the gimbal can operate in wind speeds of <12m / s. Electromagnetic compatibility: Complies with GB / T 9254-2008 and operates normally in complex electromagnetic environments.

[0065] 3. Network performance indicators Inter-node communication: LoRa 433MHz, transmission distance 3-5km (city), data rate 2.4kbps (sufficient for transmitting timestamp and angle data); Backhaul bandwidth: 4G LTE, uplink speed >5Mbps, supports multi-node concurrency; System latency: <2 seconds from signal arrival to central display (including network transmission); Deployment flexibility: Single node weighs less than 15kg, supporting rapid setup (deployment completed within 30 minutes).

[0066] This embodiment has the following advantages: Passive concealment: It does not emit electromagnetic waves, poses no risk of radiation exposure, and is not subject to radio frequency restrictions; Highly mobile: Portable, supports quick disassembly and relocation, and can operate in both fixed and mobile modes; Flexible networking: The self-organizing network architecture supports on-demand expansion, and can be smoothly expanded from 4 nodes to 16 nodes to cover the entire city; Low cost, low power consumption, supports long-term operation of lithium battery packs and solar power, and requires no mains power infrastructure.

[0067] High-precision positioning: Compared to a single station that can only provide azimuth (AOA), this embodiment achieves three-dimensional coordinate positioning (longitude, latitude, and altitude) through TDOA; Anti-interference capability: Multi-site redundancy design, single point of failure does not affect the overall network function.

[0068] Application scenarios are wide-ranging, including: low-altitude security around government agencies / critical infrastructure such as airports, nuclear power plants, and sports venues; security for large-scale events such as temporary airspace control for marathons and concerts; and routine urban patrols, such as grid-based deployment to build a city-level drone monitoring network.

[0069] This embodiment is based on a distributed passive monitoring terminal with HackRF SDR, MFD Mini AAT automatic gimbal, and GPSDO clock synchronization. Through a 4-node TDOA / AOA hybrid positioning network, it realizes high-precision passive monitoring of UAVs in key urban areas. It features low cost, high accuracy (<10m), fast deployment, and strong scalability. It is suitable for building a large-scale, gridded low-altitude electromagnetic environment monitoring network, providing technical support for urban low-altitude airspace safety management.

[0070] In summary, the embodiments of the present invention, through highly integrated terminal structure design, decentralized self-organizing network architecture, and multi-dimensional collaborative early warning method, have achieved real-time, accurate, and comprehensive monitoring of the urban low-altitude electromagnetic-meteorological environment, providing reliable technical support for the safe navigation of low-altitude UAVs.

[0071] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A portable urban low-altitude electromagnetic environment integrated monitoring terminal, characterized in that: It includes a wave-transparent protective cover, radar antenna, automatic gimbal, weather sensor components, main control cabin, and support base. All components are coaxially arranged and connected sequentially from top to bottom via shafts. The aforementioned wave-transparent protective cover is a downward-opening hemispherical shape, located at the top of the terminal, to protect the lower components and the wave-transparent area; The aforementioned automatic gimbal is mounted on the top of the shaft and is used to support and drive the passive radar receiving antenna to rotate for dynamic pointing and tracking. The radar antenna is mounted on an automatic gimbal and rotates with it to receive electromagnetic wave signals from the monitored airspace, including UAV remote control and image transmission signals. The meteorological sensing components include a wind speed sensing component and a wind direction sensing component. Both components are axially arranged in the middle section of the shaft and are distributed to collect wind speed and wind direction data. The main control cabin includes a cylindrical compartment with a main control circuit board inside. The main control circuit board is equipped with a main control unit, an edge computing unit, a data acquisition unit, a self-organizing network module, and a network communication module, which are used for receiving data, real-time signal processing, node control, data preprocessing, and network communication, and controlling the dynamic pointing and tracking of the automatic gimbal. The support base is a hollow cylinder, which contains a lithium battery module and a power adapter to provide power, physical support and bottom counterweight for other components.

2. The portable urban low-altitude electromagnetic environment integrated monitoring terminal according to claim 1, characterized in that: It also includes a software radio receiver, with the radar antenna mounted on the automatic pan-tilt unit serving as its radio frequency front end. Its signal processing module and firmware are mounted on the main control circuit board for full-band scanning, real-time spectrum and signal strength measurement, wireless environment assessment, interference source location, and spectrum occupancy analysis.

3. The portable urban low-altitude electromagnetic environment integrated monitoring terminal according to claim 1, characterized in that: It also includes an adjustable interlocking fixing chassis with an H-shaped cross-section. Its upper opening is detachably connected to the lower section of the support base, and its lower opening is detachably connected to the external carrier component. This chassis is used to fix the support base and its upper components as a whole to the external carrier component at different heights and positions for the deployment of monitoring terminal nodes.

4. The portable urban low-altitude electromagnetic environment integrated monitoring terminal according to claim 1, characterized in that: The shaft is a hollow cylinder that passes sequentially through the weather sensor component and the shaft hole located at the center of the main control cabin, reaching the upper part of the hollow part of the main control cabin. The main control circuit board inside the main control cabin is led out and passes through the hollow cavity channels in the shaft to be electrically connected to the radar antenna, automatic gimbal, and weather sensor component, respectively, and provides physical support for the radar antenna, automatic gimbal, and weather sensor component.

5. The portable urban low-altitude electromagnetic environment integrated monitoring terminal according to claim 1, characterized in that: The wave-transparent protective cover is made of wave-transparent material, and multiple support rods are symmetrically distributed along the circumference of its inner sidewall. The top of each support rod is hinged to the inner sidewall of the wave-transparent protective cover, and the bottom is fixed to the upper section of the shaft. The wave-transparent protective cover is suspended above the top of the shaft, and a rotation space is formed above the top of the shaft to accommodate the radar antenna and the automatic gimbal. The radar antenna and the automatic gimbal can rotate omnidirectionally in the space.

6. The portable urban low-altitude electromagnetic environment integrated monitoring terminal according to claim 1, characterized in that: The automatic gimbal includes a micro servo gimbal and an ambient temperature and humidity sensor; the lower section of the micro servo gimbal is embedded in the cavity channel of the upper section of the shaft; the radar antenna is horizontally set on the upper surface of the micro servo gimbal, and under the drive of the micro servo gimbal, it performs horizontal and pitch direction turning and scanning; the ambient temperature and humidity sensor is attached to the upper surface of the micro servo gimbal for collecting ambient temperature and humidity data.

7. The portable urban low-altitude electromagnetic environment integrated monitoring terminal according to claim 1, characterized in that: The wind speed sensing component includes a cross-shaped speed measuring blade and a Hall effect sensor; the cross-shaped speed measuring blade has a shaft hole at its center, a bushing is provided in the shaft hole, the Hall effect sensor is mounted on the bushing, and the bushing is located in the middle section of the shaft for collecting wind speed data. The wind direction sensing component includes a wind vane and a Hall angle sensor. The wind vane has a shaft hole at its center, and a bushing is installed inside the shaft hole. The Hall angle sensor is installed on the bushing, which is located in the middle section of the shaft and above the cross-shaped speed measuring blade, for collecting wind direction data.

8. The portable urban low-altitude electromagnetic environment integrated monitoring terminal according to claim 1, characterized in that: The main control cabin is a hollow internal structure formed by a cylindrical metal shell. The upper end face of the metal shell has a turntable bearing mounting groove and a cabin shaft hole at its center, and the lower end face has a wire hole at its center. A turntable bearing is installed in the turntable bearing mounting groove. The lower section of the shaft passes through the turntable bearing and the cabin shaft hole and is fixed in the inner ring stationary part of the turntable bearing and the cabin shaft hole. The outer ring rotating part of the turntable bearing contacts the lower end face of the cross-shaped speed measuring blade, providing support for the rotation of the cross-shaped speed measuring blade.

9. A self-organizing network monitoring array for urban low-altitude electromagnetic environment, characterized in that: It adopts a three-level distributed architecture: cloud data management layer - relay communication layer - terminal perception networking layer; The terminal sensing network layer uses the portable urban low-altitude electromagnetic environment integrated monitoring terminal as any one of claims 1 to 8 as a distributed node. After multiple terminals are deployed, they jointly form a multi-node self-organizing network monitoring array network. After each node is networked, a distributed, centerless local self-organizing network is formed. Each node independently completes environmental sensing, self-organizing network communication, data forwarding, and relay uploading. The relay communication layer consists of nodes with public network communication capabilities and a public network communication network. Through the network communication modules of each node, bidirectional interaction is carried out between the local self-organizing network data and the cloud data management layer. The cloud data management layer includes cloud servers and their built-in early warning analysis programs, which perform drone identification, multi-source data fusion, situation display, and early warning push. The monitoring array network adopts a decentralized distributed self-organizing network protocol, with each node automatically discovering itself, joining the network, self-healing, and expanding the network in a fully automated process, without the need for manual on-site configuration. Its data flow adopts a two-way interactive mode of distributed acquisition → inter-node collaborative forwarding → relay node aggregation → cloud upload → cloud command issuance.

10. A method for self-organizing network monitoring and early warning of urban low-altitude electromagnetic environment, characterized in that: It employs the self-organizing network monitoring array for urban low-altitude electromagnetic environment as described in claim 9, and includes the following steps: S1: Each node performs multi-source data acquisition and local preprocessing. Each monitoring terminal collects electromagnetic spectrum, wind speed, wind direction, temperature and humidity data, binds high-precision spatiotemporal tags, and completes filtering and noise reduction preprocessing to form standardized node monitoring data packets. S2: The multi-node self-organizing network array performs distributed transmission and full-domain data aggregation. Each node forwards the monitoring data packets through the self-organizing network module and aggregates them to the relay node according to the shortest path principle. The relay node integrates them to form a full-domain monitoring dataset. S3: Cloud upload and multi-source spatiotemporal fusion processing of full-domain monitoring data. The relay node uploads the full-domain monitoring dataset to the cloud data management layer. The cloud platform completes spatiotemporal calibration and maps it to the urban low-altitude three-dimensional geographic grid model to form a three-dimensional electromagnetic-meteorological environment map of the entire domain. S4: Multi-dimensional intelligent early warning judgment based on preset criteria. The cloud platform performs real-time analysis of the three-dimensional electromagnetic-meteorological environment map of the whole area according to the preset three-level multi-dimensional early warning criteria to complete the early warning judgment. S5: Early warning information is released in a hierarchical manner and pushed to multiple terminals. The cloud platform releases early warning information according to the warning level and pushes it to multiple terminals such as the drone management platform and regulatory department terminals. At the same time, the monitoring terminal nodes provide local early warning prompts through the status indicator unit. S6: Status feedback and network retesting after early warning handling. The cloud platform sends a retesting instruction to the monitoring terminal in the early warning area. Based on the retesting data, it determines whether the risk has been eliminated. If the risk has been eliminated, the early warning is lifted and a safety reminder is issued. If the risk has not been eliminated, the early warning continues.

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