An EMC radiation disturbance test antenna scanning path planning and real-time data compensation control method

Abstract

This invention discloses a method for antenna scanning path planning and real-time data compensation control in EMC radiated interference testing, relating to the field of electromagnetic compatibility and compensation control technology. The invention controls the antenna tower and turntable to perform sparse pre-scanning, extracting discrete field strength and three-dimensional coordinates. A three-dimensional Kriging interpolation algorithm is used to generate a spatial radiation heatmap and radiation gradient. An improved heuristic ant colony algorithm is used to intelligently plan a nonlinear linkage scanning path based on the heatmap. Real-time coordinates and communication delay characteristics are extracted and substituted into a multi-dimensional dynamic compensation model. Dynamic antenna coefficients, physical slant range path loss, and electromechanical delay misalignment compensation terms are calculated in real time and superimposed onto the original readings to output the true field strength and corrected coordinates. Extreme values ​​are locked and an intelligent test report is generated. This invention eliminates physical coupling, geometric attenuation, and communication lag errors during antenna movement, achieving a leap in EMC testing efficiency and accuracy.

Description

Technical Field

[0001] This invention belongs to the field of electromagnetic compatibility and compensation control technology, and more specifically, it relates to a method for antenna scanning path planning and real-time data compensation control for EMC radiated disturbance testing. Background Technology

[0002] Electromagnetic compatibility (EMC) testing is a mandatory entry requirement for electronic and electrical products to enter the market. Among them, radiated emissions testing is the core item for assessing the degree of interference of a product with the external electromagnetic environment. According to international standards such as CISPR 32, radiated emissions testing must be carried out in a semi-anechoic chamber. It requires controlling the receiving antenna to rise and fall within a height range of 1 meter to 4 meters through an antenna tower, while simultaneously controlling the turntable carrying the equipment under test (EUT) to rotate within a range of 0 to 360 degrees, in order to capture the maximum extreme value of the three-dimensional radiated field strength in the entire space.

[0003] In existing technological applications, radiated emissions testing primarily relies on mechanical scanning controlled by test software. Traditional methods typically employ a static traversal scanning mode with a "fixed step size," such as taking a measurement stop every 0.1 meters the antenna rises or every 15 degrees the turntable rotates. Regarding data calculation, current technologies generally treat the antenna coefficient (AF) as a static constant measured at a calibrated height (e.g., 1.5 meters) and rigidly set the test distance to the horizontal projection distance (e.g., 3 meters). Furthermore, to pursue testing speed, some systems employ a continuous sliding scan mode to continuously capture data, with the receiver directly recording the level values ​​in sequence and matching them to the current encoder coordinates of the mechanism.

[0004] It can be seen that the existing technology has the following problems: 1. Fixed step size full-space mechanical scanning results in extremely low testing efficiency, with a single broadband test taking up to several hours, and it is very easy to miss transient radiation peaks; 2. The static calculation model ignores the parasitic capacitance coupling caused by the change in distance between the antenna and the metal ground during the antenna raising and lowering process (leading to antenna coefficient drift), and the energy attenuation caused by the lengthening of the actual propagation path (slant range) of electromagnetic waves due to the antenna raising and lowering, resulting in huge physical geometric calculation errors; 3. In continuous scanning mode, there is an electromechanical communication delay between the mechanism moving to the physical position and the receiver completing data acquisition and transmission, resulting in serious spatiotemporal misalignment errors between the recorded field strength data and spatial coordinates. Summary of the Invention

[0005] (a) Technical problems to be solved To address the problems in related technologies, this invention provides a method for EMC radiated disturbance testing antenna scanning path planning and real-time data compensation control, thereby overcoming the aforementioned technical problems in existing related technologies.

[0006] (II) Technical Solution To solve the above-mentioned technical problems, the present invention is achieved through the following technical solution: S1. Control the antenna tower and turntable to perform full space traversal at maximum mechanical running speed and sparse sampling step size to extract the original discrete field strength data and three-dimensional spatial coordinate features of the device under test at each test frequency. S2. Using the three-dimensional kriging space interpolation algorithm based on the semi-variance function, the three-dimensional spatial coordinate features extracted in S1 are used as independent variables to perform continuous mapping calculation on the original discrete field strength data, generating a three-dimensional continuous spatial heat map of radiation disturbance at each frequency point around the device under test, and calculating the spatial radiation gradient based on the heat map. S3. Using an improved heuristic ant colony algorithm, based on the radiation intensity and spatial radiation gradient of the three-dimensional radiation disturbance continuous spatial heat map in S2, the linkage scanning path and real-time running speed are dynamically planned to generate a nonlinear motion trajectory control command sequence. S4. Execute the nonlinear motion trajectory control command sequence generated by S3; extract the real-time spatial coordinate features and electromechanical communication delay features during real-time operation, and combine them with the spatial radiation gradient in S2 to perform multi-dimensional real-time dynamic compensation, converting the real-time captured raw field strength readings into real field strength data and corrected accurate spatial coordinates. S5. Based on the real field strength data and corrected precise spatial coordinates output by S4, the maximum radiated disturbance extreme value at each frequency point is locked; the extreme value data is converted into structured text using natural language templates, and combined with the three-dimensional radiated disturbance continuous spatial heat map generated by S2 to generate an intelligent test report. Preferably, step S1 includes the following steps: S11. Establish a three-dimensional rectangular coordinate system for the semi-anechoic chamber; define the radiation center of the device under test as the origin of the three-dimensional rectangular coordinate system; and use the rotation angle of the turntable and the lifting height of the antenna tower as the horizontal azimuth feature and vertical height feature in the three-dimensional coordinate system, respectively. S12. Control the antenna tower to operate at the maximum safe lifting speed and the turntable to operate at the maximum safe rotational angular velocity. According to the preset large-span sparse sampling step size, control the EMI receiver to perform peak detection fast scanning in the entire frequency band, extract the original discrete field strength data of each frequency point, and simultaneously record the horizontal azimuth angle features and vertical height features to form an initial discrete dataset containing the original discrete field strength data and three-dimensional spatial coordinate features. Preferably, step S2 includes the following steps: S21. Define the grid resolution of the three-dimensional radiated disturbance continuous space heatmap; divide the continuous space containing antenna height and turntable angle into discrete three-dimensional grid nodes; S22. Use the semivariance function to quantify the spatial correlation of the original discrete field strength data in the initial discrete dataset in S12; extract the three-dimensional spatial coordinate features in S1, calculate the expected square of the spatial distance and field strength difference between any two known sampling points, and fit the theoretical semivariance variogram model. S23. Based on the theoretical semivariogram model, construct an unbiased optimal linear estimation equation set; calculate the kriging weight coefficients of each known sampling point to the unknown three-dimensional mesh node; S24. The original discrete field strength data of S1 is weighted and summed with the corresponding Kriging weight coefficients to calculate the predicted field strength values ​​of all three-dimensional grid nodes, generating a three-dimensional continuous spatial heat map of radiation disturbance; and the spatial radiation gradient of each node in the height and angle directions is obtained by performing first-order difference calculation on the predicted field strength values ​​of adjacent grid nodes. Preferably, step S3 includes the following steps: S31. Define the scanning state space; the scanning state space includes hot zone, warm zone and cold zone; set field strength attention threshold and gradient mutation threshold; if the predicted field strength value of the three-dimensional mesh node is greater than the field strength attention threshold, or its three-dimensional spatial radiation gradient is greater than the gradient mutation threshold, it is determined to be a hot zone; if the predicted field strength value is less than the safety baseline and the gradient is gentle, it is determined to be a cold zone; the rest are determined to be warm zones. S32. Based on the scanned state space, the pheromone matrix is ​​initialized using an improved heuristic ant colony algorithm; the pheromone concentration of hot zone nodes is initialized to the highest value, and the pheromone concentration of cold zone nodes is initialized to the lowest value. S33. When an ant selects the next target grid node, it calculates the transition probability of the scanning path based on the pheromone concentration and by introducing a heuristic function. The heuristic function is directly proportional to the predicted field strength value of the target grid node and inversely proportional to the mechanical movement time from the current node to the target node. S34. Generate a linkage scanning path that traverses all hot zones and takes into account the temperature zone based on the transition probability; dynamically allocate the running speed and sampling step size according to the area: plan the maximum speed and leap step size in the cold zone, plan the minimum speed and dense dwell step size in the hot zone, and generate a nonlinear motion trajectory control command sequence with time sequence markers. Preferably, step S4 includes the following steps: S41. Define a multidimensional real-time dynamic compensation formula; the multidimensional real-time dynamic compensation formula includes the original field strength reading, dynamic antenna coefficient compensation term, dynamic spatial line-of-sight loss compensation term, and electromechanical delay misalignment compensation term. S42, the system controller drives the antenna tower and turntable to move according to the nonlinear motion trajectory control command sequence generated by S3; the EMI receiver synchronously captures the original field strength reading in continuous scanning mode; S43. At the instant of capturing the original field strength reading, synchronously read the real-time high-precision encoder data of the servo motor as the real-time spatial coordinate feature, and read the system communication clock stamp to extract the electromechanical communication delay feature. S44. Substitute the real-time spatial coordinate features obtained in S43 into the multi-dimensional real-time dynamic compensation formula to calculate the dynamic antenna coefficient compensation term and the dynamic spatial line-of-sight loss compensation term respectively. The computer electrical delay misalignment compensation term for the spatial radiation gradient generated by S2 is used by combining real-time spatial coordinate features, electromechanical communication delay features, and S2-generated spatial radiation gradient. The dynamic antenna coefficient compensation term, dynamic spatial line-of-sight loss compensation term, and electromechanical delay misalignment compensation term are superimposed on the original field strength reading, and the true field strength data after eliminating errors is output, along with the accurate spatial coordinates after reverse calculation correction. Preferably, the calculation of the dynamic antenna coefficient compensation term in S44 includes the following steps: S441. Extract the static antenna coefficient reference matrix of the antenna at different standard heights and corresponding to different frequency points; the static antenna coefficient reference matrix includes the characteristics of different capacitive coupling effects between the antenna and the semi-anechoic chamber ground caused by height changes; S442. Extract the real-time precise altitude feature of the antenna from the real-time spatial coordinate features obtained in S43, and extract the current test frequency. S443. Using the real-time accurate height characteristics of the antenna as interpolation nodes, the cubic spline interpolation algorithm is used to perform real-time nonlinear interpolation calculations in the static antenna coefficient reference matrix; a smooth polynomial function based on the height characteristics is constructed to calculate the dynamic antenna coefficients at the current accurate height, and the dynamic antenna coefficient compensation term is obtained. Preferably, the calculation of the dynamic spatial line-of-sight loss compensation term in S44 includes the following steps: S444. Extract the radiation center height characteristics and standard horizontal test distance characteristics of the device under test; S445. Based on the real-time accurate height features of the antenna in the real-time spatial coordinate features obtained in S43, construct a spatial right-angled triangle geometric physical model; use the Pythagorean theorem to calculate the real-time linear physical slant distance from the antenna phase center to the radiation center of the device under test; S446. Based on the free-space electromagnetic wave propagation attenuation model, calculate the path loss difference between the real-time straight-line physical slant range and the standard horizontal test distance; using the logarithmic distance path loss formula, convert the path loss difference into decibels to obtain the dynamic space line-of-sight loss compensation term. Preferably, the computer electrical delay misalignment compensation item in S44 includes the following steps: S447. Extract the inherent communication delay time constant of the system, which is pre-calibrated from the time the antenna tower / turntable moves to a specific physical position, to the time the EMI receiver completes data capture and transmits it back to the controller, and obtain the electromechanical communication delay characteristics. S448. Perform time calculus on the real-time spatial coordinate features obtained in S43 to extract the real-time vertical running speed features of the antenna tower at the moment of capture. S449. Based on the timestamp of the received data, and combined with the electromechanical communication delay characteristics and real-time speed characteristics, reverse the calculation of the actual physical spatial coordinates of the antenna and the turntable when the EMI receiver actually measured. S4410. Calculate the spatial misalignment deviation between the real physical space coordinates and the real-time space coordinate features obtained in S43; extract the spatial radiation gradient corresponding to the height and angle direction of the coordinate point calculated in S2, multiply the spatial misalignment deviation by the spatial radiation gradient, calculate the field strength level error amplitude caused by the position misalignment, and obtain the electromechanical delay misalignment compensation term. Preferably, step S5 includes the following steps: S51. Extract the full-band real field strength data matrix and the corresponding corrected precise spatial coordinates after S4 multi-dimensional real-time dynamic compensation. S52. For each test frequency point, perform local and global extreme value search in the real field strength data matrix to lock the maximum radiated disturbance extreme value and extract the corrected precise spatial coordinates bound to the extreme value. S53. Compare the maximum radiated disturbance extreme value with the CISPR standard limit line and calculate the margin value; if the margin value is less than the safety threshold, generate an over-limit warning mark; S54. Use natural language to generate templates to transform the maximum radiated disturbance extreme value, corrected precise spatial coordinates, margin value and warning mark into structured test conclusion text; The system calls the three-dimensional radiation disturbance continuous spatial heat map generated by S2, highlights the three-dimensional location of the extreme values ​​on the heat map using the corrected and accurate spatial coordinates extracted by S52, automatically typesets the text and heat map, and exports the intelligent test report. Preferably, an EMC radiated emissions test antenna scanning path planning and real-time data compensation control system is provided to implement the aforementioned EMC radiated emissions test antenna scanning path planning and real-time data compensation control method. The system includes a multi-dimensional state space initialization module, a spatial interpolation and heatmap construction module, an adaptive path planning module, a multi-dimensional real-time data compensation module, and an extreme value locking and report generation module, wherein: The aforementioned multi-dimensional state space initialization module is used to control the antenna tower and turntable to perform rapid sparse pre-scanning and extract the original discrete field strength data and three-dimensional spatial coordinate features of the device under test at each test frequency. The aforementioned spatial interpolation and heatmap construction module is used to receive the original discrete field strength data and three-dimensional spatial coordinate features, and to perform continuous mapping calculation on the original discrete field strength data using the three-dimensional kriging spatial interpolation algorithm to generate a three-dimensional continuous spatial heatmap of radiation disturbance and spatial radiation gradient. The aforementioned adaptive path planning module is used to receive a three-dimensional radiation disturbance continuous spatial heat map and spatial radiation gradient, dynamically plan the linkage scanning path using an improved heuristic ant colony algorithm, and output a nonlinear motion trajectory control command sequence. The aforementioned multidimensional real-time data compensation module is used to execute nonlinear motion trajectory control command sequences, extract real-time spatial coordinate features and electromechanical communication delay features, calculate compensation terms by combining spatial radiation gradient, and output real field strength data and corrected accurate spatial coordinates. The aforementioned extreme value locking and report generation module is used to traverse real field strength data to lock extreme values ​​and corrected precise spatial coordinates, and combine them with a three-dimensional continuous spatial heat map rendering to generate an intelligent test report.

[0007] (III) Beneficial Effects The present invention has the following beneficial effects: This invention improves the efficiency and extreme value capture accuracy of EMC radiated emissions testing. By introducing sparse pre-scanning combined with a three-dimensional kriging interpolation algorithm, a realistic panoramic spatial radiation heat map can be quickly constructed. Based on this, an improved heuristic ant colony algorithm is used to dynamically plan the scanning path. This breaks the constraints of traditional fixed-step blind scanning, allowing the antenna to quickly pass through safe areas and densely reside in high-risk radiation areas, shortening the testing time and effectively avoiding ineffective wear of mechanical parts.

[0008] This invention eliminates the physical geometric errors generated during antenna movement in space, thus improving testing accuracy. It also abandons the erroneous practice of treating antenna coefficients and test distance as static constants in traditional testing, introducing dynamic antenna coefficient compensation based on cubic spline interpolation to restore the errors caused by near-ground capacitive coupling. Simultaneously, it constructs a spatial right-angled triangle model to calculate the antenna's physical slant range in real time and compensates for path loss based on a free-space attenuation model, thereby reducing measurement uncertainties in the high-frequency band and near-field region.

[0009] This invention solves the electromechanical asynchronous error problem in dynamic continuous scanning mode; by establishing a back-reasoning model based on Kalman filtering and inverse kinematics, the system can combine the objectively calibrated electromechanical communication delay time with the real-time operating speed to restore the real physical spatial coordinates when the data is generated; by combining the spatial radiation gradient provided by the heat map, the field strength level error caused by position misalignment is quantified and compensated; and the antenna can perform high-speed measurement in continuous sliding state, breaking down the alignment barriers of space, time and data in EMC testing.

[0010] This invention uses sparse pre-scanning as the sensing layer to extract the data skeleton of the electromagnetic field in the whole space at low time cost; it uses Kriging interpolation mapping as the construction layer to transform the discrete skeleton into a continuous three-dimensional radiation heat map, providing a priori environmental model; it uses ant colony path planning as the planning layer to transform the heat map into a navigation map, guiding the antenna to avoid invalid areas and directly target high-risk areas; and it uses multi-dimensional dynamic compensation as the execution and compensation layer to correct physical and electromechanical errors in real time during nonlinear motion. The combination of sparse pre-scanning, Kriging interpolation mapping, ant colony path planning and dynamic compensation realizes intelligent optimization of macroscopic paths and fidelity of microscopic data in EMC testing.

[0011] Of course, any product implementing this invention does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0012] To more clearly illustrate the technical solutions of the embodiments of the invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the invention. For those skilled in the art, the drawings can be obtained from these drawings without creative effort.

[0013] Figure 1 This is a flowchart illustrating the antenna scanning path planning and real-time data compensation control method for EMC radiated disturbance testing according to the present invention. Figure 2 This is a schematic diagram of a module of an EMC radiated disturbance test antenna scanning path planning and real-time data compensation control system according to the present invention. Detailed Implementation

[0014] The technical solutions of the embodiments of the invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the invention, and not all embodiments. Based on the embodiments of the invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the invention.

[0015] Furthermore, to address the technical problems raised in the background section, please refer to... Figure 1 This invention provides a method for EMC radiated emissions testing antenna scanning path planning and real-time data compensation control, comprising: S1. Control the antenna tower and turntable to perform full space traversal at maximum mechanical running speed and sparse sampling step size to extract the original discrete field strength data and three-dimensional spatial coordinate features of the device under test at each test frequency. S2. Using the three-dimensional kriging space interpolation algorithm based on the semi-variance function, the three-dimensional spatial coordinate features extracted in S1 are used as independent variables to perform continuous mapping calculation on the original discrete field strength data, generating a three-dimensional continuous spatial heat map of radiation disturbance at each frequency point around the device under test, and calculating the spatial radiation gradient based on the heat map. S3. Using an improved heuristic ant colony algorithm, based on the radiation intensity and spatial radiation gradient of the three-dimensional radiation disturbance continuous spatial heat map in S2, the linkage scanning path and real-time running speed are dynamically planned to generate a nonlinear motion trajectory control command sequence. S4. Execute the nonlinear motion trajectory control command sequence generated by S3; extract the real-time spatial coordinate features and electromechanical communication delay features during real-time operation, and combine them with the spatial radiation gradient in S2 to perform multi-dimensional real-time dynamic compensation, converting the real-time captured raw field strength readings into real field strength data and corrected accurate spatial coordinates. S5. Based on the real field strength data and corrected precise spatial coordinates output by S4, the maximum radiated disturbance extreme value at each frequency point is locked; the extreme value data is converted into structured text using natural language templates, and combined with the three-dimensional radiated disturbance continuous spatial heat map generated by S2 to generate an intelligent test report. The above embodiments construct a full-space electromagnetic radiation heat map through sparse pre-scanning and three-dimensional kriging interpolation algorithms, changing the traditional blind traversal of testing. An improved heuristic ant colony algorithm is used to perform intelligent path planning based on the heat map, guiding the antenna directly to high radiation risk areas, shortening the testing time and reducing mechanical wear. A multi-dimensional real-time dynamic compensation formula that integrates height, slant range, and electromechanical delay is introduced to eliminate measurement errors caused by ground coupling, increased spatial line-of-sight, and communication lag during continuous antenna movement, thereby improving EMC testing efficiency and measurement accuracy. The above embodiment S1 includes the following steps: S11. Establish a three-dimensional rectangular coordinate system for the semi-anechoic chamber; define the radiation center of the device under test as the origin of the three-dimensional rectangular coordinate system; and use the rotation angle of the turntable and the lifting height of the antenna tower as the horizontal azimuth feature and vertical height feature in the three-dimensional coordinate system, respectively. In specific implementation, the above embodiment S11 is as follows: In a standard 3-meter semi-anechoic chamber, the device under test (EUT) is placed on an insulated tabletop with a height of 0.8 meters, with the geometric center of this tabletop as the origin (0,0,0); the horizontal rotation angle of the turntable is extracted and recorded as... i The value range is [0°, 360°], which is used as the horizontal azimuth feature; the vertical rise and fall height of the antenna tower is extracted and recorded as... h The value range is [1.0m, 4.0m], which serves as the vertical height characteristic; the horizontal straight-line projection distance between the antenna and the device under test is constant. D=3.0m; the three-dimensional spatial coordinate characteristics are derived from ( h , i The antenna's spatial position in the cylindrical coordinate system is determined jointly and uniquely. S12. Control the antenna tower to operate at the maximum safe lifting speed and the turntable to operate at the maximum safe rotational angular velocity. According to the preset large-span sparse sampling step size, control the EMI receiver to perform peak detection fast scanning in the entire frequency band, extract the original discrete field strength data of each frequency point, and simultaneously record the horizontal azimuth angle features and vertical height features to form an initial discrete dataset containing the original discrete field strength data and three-dimensional spatial coordinate features. In specific implementation, the above embodiment S12 specifically involves: setting the maximum safe lifting and lowering speed of the antenna tower. vh max =0.2m / s, the maximum safe rotational angular velocity of the turntable vth max =30° / s; The preset large-span sparse sampling step size is set as: height step size Δ h =0.5m (meaning the system control antenna only hovers or sweeps across the sampling point at seven altitude planes: 1.0m, 1.5m, 2.0m, 2.5m, 3.0m, 3.5m, and 4.0m), with an angle step size Δ. i =45° (meaning the control turntable only samples at 8 angles: 0°, 45°, 90°, 135°, 180°, 225°, 270°, and 315°); Under the above settings, the system only needs to collect 7×8=56 spatial discrete points in the entire space; the EMI receiver adopts Peak detection mode, and the scanning frequency range is 30MHz to 1GHz; at each discrete point, the system records a data structure of five tuples: <timestamp> t Frequency f , high h , angle i Original field strength V raw >;among them ( h , i This refers to the three-dimensional spatial coordinate characteristics. V raw This is the original discrete field strength data; through the above steps, the initial discrete dataset is generated; compared to the traditional step size (0.1m, 15°), it requires collecting 31×24=744 points; It should be further explained that the above Δ h =0.5m and Δ iA sampling step size of 45° is primarily used as an initial example for low-frequency bands (such as 150MHz and below, with longer spatial wavelengths). As a preferred embodiment, to avoid interpolation artifacts caused by the extremely small spatial range in high-frequency bands (such as 1GHz) failing to satisfy the spatial Nyquist sampling theorem, this system introduces an adaptive sampling density rule and interpolation self-checking mechanism based on the highest test frequency. Before initiating the pre-scan, the system will automatically calculate the shortest spatial wavelength λ based on the highest frequency of the current test band. min The initial height step size of the sparse pre-scan is dynamically constrained to Δ. h ≤λ min / 4, and must not exceed the theoretical range. a Half of it, to ensure that the pre-scan can capture the fundamental spatial frequency of the high-frequency interference fringes; When performing Kriging interpolation in step S2, the algorithm not only outputs the predicted field strength value, but also synchronously outputs the Kriging estimation variance of each grid node. The system sets an interpolation uncertainty threshold. If the estimated variance of a certain area exceeds the threshold (indicating that the data in that area is too sparse and there is a risk of artifacts), the system will automatically drive the antenna tower and turntable to perform a local encrypted pre-scan of the high variance area and dynamically update the initial discrete dataset. The heatmap generated by the above mechanism is intended to serve as the initial prior topological navigation map for the heuristic ant colony algorithm, used to delineate macroscopic high-risk areas (hot zones) where extreme values ​​are likely to exist, rather than replacing the final precise measurement; the final maximum radiated disturbance extreme value is still precisely locked in step S4 by the antenna performing a low-speed, dense, fine-scanning of the hot zone under the guidance of the ant colony algorithm (combined with multi-dimensional real-time dynamic compensation); this logic takes into account both the efficiency of full-space exploration and the physical authenticity of the final extreme value locking; This embodiment reduces the amount of scanned data and shortens the mechanical operation time of the equipment; it also reduces the mechanical time spent on the initial scan, providing the necessary and sufficient boundary conditions and data skeleton for the subsequent step S2 to construct a panoramic heat map using a spatial interpolation algorithm. The above embodiment S2 includes the following steps: S21. Define the grid resolution of the three-dimensional radiated disturbance continuous space heatmap; divide the continuous space containing antenna heights from 1 meter to 4 meters and turntable angles from 0 degrees to 360 degrees into discrete three-dimensional grid nodes; In specific implementation, the above embodiment S21 specifically involves: setting the high-resolution grid step size for generating the heatmap to: height grid d h =0.05m, angular grid d θ=2°; Thus, the entire continuous test space is divided into ((4.0-1.0) / 0.05+1)×(360 / 2)=61×180=10980 dense three-dimensional mesh nodes; S22. Use the semivariance function to quantify the spatial correlation of the original discrete field strength data in the initial discrete dataset in S12; extract the three-dimensional spatial coordinate features in S1, calculate the expected square of the spatial distance and field strength difference between any two known sampling points, and fit the theoretical semivariance variogram model. In specific implementation, the above embodiment S22 specifically refers to: for a specific frequency point (such as...) f =150MHz), let any two known sparse sampling points in the initial discrete dataset S1 be... x i and x j Extract their three-dimensional spatial coordinate features ( h i , i i )and( h j , i j );in, h i , h j These represent the sampling points. x i and x j Vertical height characteristics; i i , i j These represent the sampling points. x i and x j Horizontal azimuth characteristics; Calculate the spatial distance between the two known sampling points; it should be noted that the variation of electromagnetic waves in the height direction (mainly dominated by standing waves formed by multipath reflection from the metal floor) and the variation in the angular direction (mainly dominated by the radiation pattern of the EUT itself) have completely different physical mechanisms and do not satisfy the strict isotropic stationary random field assumption. Therefore, this embodiment introduces a geometric anisotropy correction model; the system first calculates the experimental semivariance in the height and angular directions respectively, extracts the range difference between the two, and obtains the anisotropy scaling factor. K an Corrected anisotropic spatial distance d The calculation formula is: ;in, RThe test distance is 3.0m; Δ i The difference in radians; through K an By performing spatial scaling transformation on the physical distance in the angular dimension, the three-dimensional cylindrical space with different physical mechanisms is mapped into an isotropic equivalent space that mathematically satisfies the assumption of inherent stability, thereby solving the interpolation legality problem in the complex reflection environment of EMC anechoic chamber in principle. Calculate the experimental semivariance. ; c Indicates distance as d The expected value of the semivariance at time; N ( d The spatial distance is... d Number of sample point pairs V raw The original discrete field strength data extracted for S1; A spherical model is used to theoretically fit the experimental semivariance when... d ≤ a hour, c ( d )=C0+C[1.5*( d / a )-0.5*( d / a ) 3 ];when d > a hour, c ( d ) = C0 + C; Wherein, C0 is the nugget effect constant (representing the inherent error and micro-variation of the system measurement; its quantitative conversion relationship is: the system continuously collects the level fluctuation of the background noise at the current frequency point under anechoic chamber no-load (EUT power off) state, and calculates its statistical variance (unit: dB). 2 The measurement uncertainty variances of the receiver and antenna system calibrations are then added together, and the sum of these variances is the quantitative assignment value C0 (which is 0.5 dB in this embodiment after variance calculation). 2 ); C is the partial sill value, representing the maximum variation caused by spatial autocorrelation. The system calculates the overall sample variance of all raw discrete field strength data extracted by S1 at the current frequency point, and subtracts the determined C0 to obtain the partial sill value. C (This embodiment is based on S1 data fitting and the result is 12.4 dBdB) 2 ); a The range is the maximum effective range of the spatial correlation of the electromagnetic field, i.e., the distance exceeding [a certain value]. aThe back field strength is no longer relevant. The abscissa of the experimental semivariance curve when it reaches the sill value is obtained by fitting the least squares method (1.2m in this example). Furthermore, regarding the aforementioned nugget effect constant C0, the partial sill value C, and the range... a It is not fixed, but changes dynamically with the test frequency; the frequency of electromagnetic waves directly affects their propagation characteristics and spatial correlation range; this system has built-in adaptive calibration rules for interpolation parameters that change with frequency bands: Variable range a The relationship is inversely proportional to the frequency; the higher the frequency, the shorter the wavelength, the denser the spatial interference fringes, and the smaller the spatial correlation range; at 30MHz, the range... a It can reach 3.0m; while at 1GHz, the range... a The range is reduced to 0.2m~0.4m; the system extracts discrete data at the corresponding frequency point in S1 and uses the maximum likelihood estimation method to calculate the true range at that frequency point in real time. a ; The nugget effect constant C0 is positively correlated with the background noise of the anechoic chamber and the antenna standing wave ratio at that frequency. The system assigns the value by reading the frequency response calibration curve of the anechoic chamber when it is unloaded. The partial sill value C is dynamically obtained by subtracting C0 from the overall variance of the discrete field strength data of S1 at the current frequency. Through the dynamic calibration of the above parameters, it is ensured that this method can generate accurate interpolation parameters in the entire frequency band from 30MHz to 1GHz. S23. Based on the theoretical semivariogram model, construct an unbiased optimal linear estimation equation set; calculate the kriging weight coefficients of each known sampling point to the unknown three-dimensional mesh node; In specific implementation, the above embodiment S23 specifically refers to: for any one of the 10980 unknown three-dimensional mesh nodes divided in S21 x 0 Assuming that its range has n The known sparse sampling points extracted by S1 are used; to ensure that the estimation is unbiased (i.e., the sum of the weights is 1) and the estimation variance is minimized, a system of Lagrange multiplier equations is constructed: ;in,( j =1, 2,..., n ), and satisfy Σλ i =1;γ( x i , x j () represents a known point x i and x j The theoretical semivariance value γ ( x 0 , xj ) represents an unknown node x 0 and known points x j The theoretical semivariance between them; m The Lagrange multiplier is used to find the extremum condition; the system of linear equations is solved by matrix inversion to obtain each known sampling point. x i For the unknown node x Kriging weights of 0 l i ; S24. The original discrete field strength data of S1 is weighted and summed with the corresponding Kriging weight coefficients to calculate the predicted field strength values ​​of all three-dimensional grid nodes, generating a three-dimensional continuous spatial heat map of radiation disturbance; and the spatial radiation gradient of each node in the height and angle directions is obtained by performing first-order difference calculation on the predicted field strength values ​​of adjacent grid nodes. In specific implementation, the above embodiment S24 specifically refers to: the predicted field strength value of grid node x0. V pred ( x 0)=Σ( l i * V raw ( x i The system traverses all 10,980 grid nodes, completes interpolation calculations, and generates a complete three-dimensional continuous spatial heat map of radiated disturbances at a frequency of 150 MHz (i.e., a 61×180 predicted field strength matrix). Furthermore, based on this heatmap matrix, the spatial radiation gradient is calculated: height gradient: Grad h ( h , i )=( V pred ( h + dh , i )- V pred ( h - dh , i )) / (2 dh (Unit: dB / m); Angular gradient: Gradθ ( h , i )=( V pred ( h , i + d i )- Vpred ( h , i - dth )) / (2 dth (Unit: dB / degree); Comprehensive spatial radiation gradient ;in, V pred This represents the predicted field strength value obtained through interpolation. dh This indicates the preset height grid step size; dth Indicates the preset angle grid step size; Grad h Represents the local first derivative (gradient) of the height dimension; Grad θ The local first derivative of the angular dimension; Grad total This represents the magnitude of the integrated spatial radiative gradient vector of the node; The above embodiments, by introducing a three-dimensional kriging interpolation algorithm, not only utilize the absolute numerical values ​​of the known sampling points in S1, but also uncover the geometric structure and correlation distance of the electromagnetic field in spatial distribution. Compared with simple bilinear interpolation or spline interpolation, kriging interpolation, in an anechoic environment with significant electromagnetic wave interference and standing wave effects, can reconstruct a highly realistic radiation thermogram with smaller variance and output key spatial radiation gradient features. These gradient features will not only serve as the basis for judging hot zones in S3, but also play a multiplier role in the electromechanical delay misalignment compensation in S4, providing a reliable navigation map for intelligent path planning. The above embodiment S3 includes the following steps: S31. Define the scanning state space; the scanning state space includes hot zone, warm zone and cold zone; set field strength attention threshold and gradient mutation threshold; if the predicted field strength value of the three-dimensional mesh node is greater than the field strength attention threshold, or its three-dimensional spatial radiation gradient is greater than the gradient mutation threshold, it is determined to be a hot zone; if the predicted field strength value is less than the safety baseline and the gradient is gentle, it is determined to be a cold zone; the rest are determined to be warm zones. In specific implementation, the above embodiment S31 is as follows: based on the CISPR 32 standard Class B limit, at a frequency of 150MHz, the limit is 40dBμV / m; field strength concern threshold. V th =Limit - 6dB = 34dBμV / m; Set gradient mutation threshold Grad th =3.0dB / grid step size (indicates that the electromagnetic field in this region is oscillating violently, easily hiding sharp peaks and maxima); Set a safety baseline V safe =Limit value - 15dB = 25dBμV / m; System traversal of heatmap mesh: Condition 1: If Vpred ( x )≥34 or Grad total ( x If the value is ≥3.0, the node is marked as a hot zone (high-risk zone); Condition 2: If V pred ( x )≤25 and Grad total ( x If ) < 1.0, the node is marked as a cold zone (safe zone); Condition 3: the remaining nodes are marked as warm zones; S32. Based on the scanned state space, the pheromone matrix is ​​initialized using an improved heuristic ant colony algorithm; the pheromone concentration of hot zone nodes is initialized to the highest value, and the pheromone concentration of cold zone nodes is initialized to the lowest value. In specific implementation, the above embodiment S32 specifically involves: initializing the pheromone matrix. t ( x For hot nodes, set the initial pheromone. t init =10.0; For temperature zone nodes, t init =5.0; for cold zone nodes t init =1.0; This non-uniform pheromone initialization breaks the blind search of traditional ant colony algorithms and directly guides virtual ants to gather in high-radiation areas. S33. When an ant selects the next target grid node, it calculates the transition probability of the scanning path based on the pheromone concentration and by introducing a heuristic function. The heuristic function is directly proportional to the predicted field strength value of the target grid node and inversely proportional to the mechanical movement time from the current node to the target node. In specific implementation, the above embodiment S33 specifically involves: ants starting from the node i Transfer to node j The probability P( i , j The calculation formula is: ;in, α As a pheromone-inspired factor, β As a desired heuristic factor; α , β Calculations based on statistical characteristics of heatmap data yielded the following: α =1+( s grad / m grad ),in P ( i , j () represents the probability of choosing a transfer path; sgrad The standard deviation of the radiation gradient across the entire space. m grad This represents the mean of the radiation gradient across the entire space; when the electromagnetic field in space oscillates violently (with large variance), α Automatic enlargement makes the algorithm more reliant on hotspot pheromones; β =1+( vh max / vh avg ),in vh max The maximum rise and fall speed of the antenna vh avg The average operating speed during the pre-scan is the value that reflects the motion response capability of the mechanical system. t ( j ) represents the target node j pheromone concentration; or ( i , j ) indicates from i arrive j The heuristic function value; k For the current node i The set of all reachable neighboring nodes; Heuristic function: ;in T move ( i , j ) for institutions from nodes i Movement to node j Required physical time ;in, h i , h j , i i , i i They are nodes i , j Height and angle coordinates; vth max For maximum safe rotational angular velocity; molecules V pred ( j Attracting ants to areas with high radiation, the denominator T move ( i , j Punish those paths that are physically far away and take a long time; the combination of the two ensures that the planned path can capture the extreme value and save the most time in terms of mechanical movement. Furthermore, the method for setting the parameters of the improved heuristic ant colony algorithm and the range of their values ​​in this embodiment are as follows: The initial pheromone values ​​(10.0 for hot zones, 5.0 for warm zones, and 1.0 for cold zones) are dimensionless relative weights. Their physical meaning lies in artificially constructing an initial pheromone concentration gradient, breaking the blind search of traditional algorithms in the early stages, and causing ants to tend to gather in high-radiation areas during the first iteration. The number of ants is set to a range of 20 to 50 (preferably 30 in this embodiment), ensuring both spatial search diversity and avoiding computational redundancy. The maximum number of iterations is set to 50 to 100, triggering a premature convergence stopping condition when the optimal path no longer changes after 10 consecutive iterations. The pheromone evaporation rate is limited to the range [0.1, 0.3] (preferably 0.15 in this embodiment). A lower evaporation rate helps retain information from the prior heatmap, preventing the algorithm from getting stuck due to local extrema. Regarding the parameters in the transition probability... α and β The basis for the adaptive calculation derivation is: α =1+( s grad / m grad The derivation of ) is based on the statistical coefficient of variation (CV). When the coefficient of variation of the spatial radiation gradient is large, it indicates that there is a sharp peak of abrupt change in space, and at this time, it is necessary to enhance the pheromone. α The guidance; β =1+( vh max / vh avg The derivation of the expected factor is based on the mechanical dynamics margin. When the average operating speed is much lower than the maximum speed, it indicates that the mechanical system has sufficient acceleration space. In this case, increasing the expected factor is appropriate. β This can prompt the algorithm to plan a path with shorter physical time; S34. Generate a linkage scanning path that traverses all hot zones and takes into account the temperature zone based on the transition probability; dynamically allocate the running speed and sampling step size according to the area: plan the maximum speed and leap step size in the cold zone, plan the minimum speed and dense dwell step size in the hot zone, and generate a nonlinear motion trajectory control command sequence with time sequence markers. In specific implementation, the above embodiment S34 is as follows: after the algorithm converges, an optimal spatial traversal trajectory is output; the system dynamically allocates control parameters for different regions on this trajectory: When the trajectory passes through a cold zone: Set the antenna rise and fall speed. vh =0.2m / s (100% full speed), receiver dwell time =1ms (extremely fast pass); when the trajectory passes through the temperature zone: set the acceleration / deceleration speed. vh =0.1m / s (50% speed), dwell time =10ms; When the trajectory passes through the hot zone: set the acceleration / deceleration speed. vh=0.02m / s (10% slow fine-tuning), the receiver uses a Quasi-Peak detector, and the dwell time is 1000ms (dense dwell time to ensure no transient pulses are missed); the final generated signal contains <timestamp>. t Target height h ( t ), target angle i ( t Running speed v ( t ), detection mode> nonlinear control command sequence; The above embodiments transform fixed mechanical scanning into intelligent optimization tracking by introducing an improved heuristic ant colony algorithm; clearly defined and quantified hot zone determination criteria (limit -6dB and gradient >3.0) and a sophisticated heuristic function (field strength / movement time) enable the antenna tower and turntable to work together, accelerating in safe cold zones and slowing down in dangerous hot zones; reducing scanning time and improving the accuracy of finding extreme values; The above embodiment S4 includes the following steps: S41. Define a multidimensional real-time dynamic compensation formula; the multidimensional real-time dynamic compensation formula includes the original field strength reading, dynamic antenna coefficient compensation term, dynamic spatial line-of-sight loss compensation term, and electromechanical delay misalignment compensation term. In specific implementation, the above embodiment S41 specifically refers to: true field strength E real ( t The formula for calculating ) is defined as follows: E real ( t )= V raw ( t )+ AF dy ( h , f )+ L path ( h , i )+ C delay ( v , Δ t );in, V raw ( t For EMI receivers in t Raw level readings taken at each moment (unit: dBμV); AF dy ( h , f ) represents the dynamic antenna coefficient compensation term based on real-time altitude characteristics (unit: dB / m); Lpath ( h , i () represents the dynamic spatial line-of-sight loss compensation term based on real-time height characteristics (unit: dB). C delay ( v ,Δ t () represents the electromechanical delay misalignment compensation term based on electromechanical delay characteristics and S2 spatial radiation gradient (unit: dB). S42, the system controller drives the antenna tower and turntable to move according to the nonlinear motion trajectory control command sequence generated by S3; the EMI receiver synchronously captures the original field strength reading in continuous scanning mode; S43. At the instant of capturing the original field strength reading, synchronously read the real-time high-precision encoder data of the servo motor as the real-time spatial coordinate feature, and read the system communication clock stamp to extract the electromechanical communication delay feature. In specific implementation, the above embodiment S43 is as follows: assuming that when the scan is executed to t=12.500 seconds, the EMI receiver captures the original field strength reading at a frequency of 150MHz. V raw =18.5dBμV; Within the same microsecond of triggering the grab, the controller reads the absolute encoders of the antenna tower and the servo motor, and feeds back the current real-time spatial coordinate characteristics as: mechanical height. h en =1.325m, turntable angle i en =45.2°; Furthermore, to address the timing synchronization issue when the controller simultaneously controls the antenna tower, turntable, and receiver, especially in continuous scanning (spectrum stream transmission or FFT calculation) mode, where relying solely on software-level polling cannot guarantee millisecond-level spatiotemporal alignment, this system introduces a hardware-level hard synchronization trigger mechanism. The system is equipped with a hardware synchronization controller supporting high-precision real-time control (e.g., a controller based on a PXIe bus architecture or FPGA). The servo motor driver is configured in position comparison output mode. When the absolute encoder of the antenna tower or turntable reaches the preset physical coordinates (e.g., using the encoder's Z-phase signal or a set pulse count value), the driver immediately sends an external trigger pulse to the EMI receiver via a dedicated hardware trigger line (e.g., a TTL level signal). Upon receiving this hardware pulse, the EMI receiver latches the current FFT spectrum calculation result and adds a high-precision hardware timestamp. This underlying hard synchronization mechanism ensures that every frequency point data calculated by the FFT corresponds to a physical coordinate, avoiding spatiotemporal misalignment caused by network packet loss or software processing delays. S44. Substitute the real-time spatial coordinate features obtained in S43 into the multi-dimensional real-time dynamic compensation formula to calculate the dynamic antenna coefficient compensation term and the dynamic spatial line-of-sight loss compensation term respectively. The computer electrical delay misalignment compensation term for the spatial radiation gradient generated by S2 is used by combining real-time spatial coordinate features, electromechanical communication delay features, and S2-generated spatial radiation gradient. The dynamic antenna coefficient compensation term, dynamic spatial line-of-sight loss compensation term, and electromechanical delay misalignment compensation term are superimposed on the original field strength reading, and the true field strength data after eliminating errors is output, along with the accurate spatial coordinates after reverse calculation correction. The calculation of the dynamic antenna coefficient compensation term in embodiment S44 above includes the following steps: S441. Extract the static antenna coefficient reference matrix of the antenna at different standard heights and corresponding to different frequency points; the static antenna coefficient reference matrix includes the characteristics of different capacitive coupling effects between the antenna and the semi-anechoic chamber ground caused by height changes; In specific implementation, the above embodiment S441 is as follows: Traditional test software treats the antenna coefficient (AF) as a constant of the detachment height; however, in reality, the closer the antenna is to the metallic ground, the larger the parasitic capacitance, and the more severe the AF drift. It should be emphasized that the static antenna coefficient reference matrix extracted by this system is not a general factory parameter, but is obtained in advance through rigorous normalized site attenuation (NSA) calibration based on the current specific physical environment of the semi-anechoic chamber and a specific standard horizontal test distance. This reference matrix is ​​bound to the metallic reflection characteristics of the current anechoic chamber ground and the absorption characteristics of the absorbing material, thus it can eliminate the near-ground capacitive coupling error and reflection multipath effect error caused by the change of antenna height in this specific site. For example, the stored static antenna coefficient reference matrices at different standard heights at 150MHz are as follows: h =1.0m, AF=11.20dB / m; h =1.5m, AF=12.80dB / m; h =2.0m, AF=13.50dB / m; S442. Extract the real-time precise altitude feature of the antenna from the real-time spatial coordinate features obtained in S43, and extract the current test frequency point; that is, extract... h en =1.325m, f =150MHz; S443. Using the real-time accurate height characteristics of the antenna as interpolation nodes, the cubic spline interpolation algorithm is used to perform real-time nonlinear interpolation calculations in the static antenna coefficient reference matrix; a smooth polynomial function based on the height characteristics is constructed to calculate the dynamic antenna coefficients at the current accurate height, and the dynamic antenna coefficient compensation term is obtained. In specific implementation, the above embodiment S443 specifically involves: constructing a cubic spline polynomial using known points (1.0, 11.20) and (1.5, 12.80); and […] at two adjacent height calibration points... h k , h k+1 Between ], the dynamic antenna coefficient function = a k + b k ( h - h k )+ c k ( h - h k ) 2 + d k ( h - h k ) 3 By substituting the coordinates of all calibration points and applying boundary conditions (i.e., continuous function values, continuous first derivatives, and continuous second derivatives at each interpolation point), the coefficients can be objectively obtained by solving the linear equation system. a k + b k ( h - h k )+ c k ( h - h k ) 2 + d k ;Will h en Substituting 1.325m into the polynomial, we obtain... AF dy (1.325) = 12.35 dB / m; If traditional software uses a fixed AF (assuming it is fixed at 13.0 dB / m) with free space calibration, an absolute calculation error of 0.65 dB will occur here; this step eliminates this near-ground coupling error by introducing real-time altitude characteristics. The calculation of the dynamic spatial line-of-sight loss compensation term in the above embodiment S44 includes the following steps: S444. Extract the radiation center height characteristics and standard horizontal test distance characteristics of the device under test; In specific implementation, the above embodiment S444 specifically involves: placing the device under test on a 0.8m insulating table and setting the radiation center height feature.h EUT =0.8m; Standard horizontal test distance characteristics D =3.0m; S445. Based on the real-time accurate height features of the antenna in the real-time spatial coordinate features obtained in S43, construct a spatial right-angled triangle geometric physical model; use the Pythagorean theorem to calculate the real-time linear physical slant distance from the antenna phase center to the radiation center of the device under test; In specific implementation, the above embodiment S445 is as follows: the spatial right-angled triangle geometric physical model is a geometric relationship formed by taking the projection point of the radiation center of the device under test on the horizontal ground as the right-angle vertex, and the vertical line segment from the radiation center of the device under test to the projection point and the horizontal line segment from the phase center of the antenna to the projection point; in this right-angled triangle, the horizontal right-angle side is always the standard test distance. D The right-angled side is the absolute value of the difference between the real-time height of the antenna and the height of the device under test. h en - h EUT The hypotenuse is the physical slant distance of the straight line in which the electromagnetic wave actually propagates. d real Substitute the current antenna's real-time accurate altitude characteristics. h en =1.325 m; Calculate the real-time physical slope distance of the straight line according to the Pythagorean theorem. ≈ 3.0456 m; S446. Based on the free-space electromagnetic wave propagation attenuation model, calculate the path loss difference between the real-time straight-line physical slant range and the standard horizontal test distance; using the logarithmic distance path loss formula, convert the path loss difference into decibels to obtain the dynamic space line-of-sight loss compensation term. In specific implementation, the above embodiment S46 is as follows: the traditional calculation defaults to a fixed test distance of 3 meters; however, due to the antenna's elevation change, the actual path length of the electromagnetic wave along the hypotenuse is lengthened, causing the energy captured by the receiving antenna to attenuate according to the inverse square law; the free space electromagnetic wave propagation attenuation model is based on the Friis propagation equation, that is, in unobstructed free space, the received electric field strength E With transmission distance d Inversely proportional (E∝1 / d); therefore, the actual slope distance d real The electric field strength at the location and the ideal horizontal distance D The ratio of the field strength at that location is D / d real ; Calculate the dynamic spatial line-of-sight loss compensation term L path =20*log10( d real / D )=20*log10(3.0456 / 3.0)≈0.13dB; Since the antenna is raised to 1.325 meters, the electromagnetic waves are attenuated by 0.13 dB in space. This 0.13 dB must be added back to the original reading in order to truly and equivalently reflect the original radiation capability of the device under test at 3 meters. When the antenna is raised to its highest point of 4 meters, the slant range compensation will be as high as 1.2 dB, which is an issue that is easily overlooked in traditional testing. The computer electrical delay misalignment compensation item in the above embodiment S44 includes the following steps: S447. Extract the inherent communication delay time constant of the system, which is pre-calibrated from the time the antenna tower / turntable moves to a specific physical position, to the time the EMI receiver completes data capture and transmits it back to the controller, and obtain the electromechanical communication delay characteristics. In specific implementation, the above embodiment S447 specifically involves: using an oscilloscope and GPIB bus hardware timing analysis, pre-calibrating the inherent communication and processing delay time constant Δ of this test system. t =80ms (0.08 s); This means that when the controller is in t When data is received, this is actually the antenna mechanism in action. t The electromagnetic field radiated from that physical location at -0.08 seconds produced a spatial motion blur; Furthermore, this embodiment provides a detailed method for calibrating the inherent communication delay time constant: Use a standard RF signal source to transmit a fixed-frequency continuous wave (CW) or pulsed RF signal in an anechoic chamber; connect channel 1 (CH1) of the high-bandwidth oscilloscope to the position of the servo motor driver to the pulse output terminal, and connect channel 2 (CH2) to the data ready trigger pin or bus ACK response capture port of the EMI receiver; The control antenna tower continuously rises and falls at maximum speed. When the encoder passes the preset calibration height, the driver triggers CH1 to generate a level transition. When the receiver completes the RF signal detection at this physical location and sends it back to the controller, it triggers CH2 to generate a level transition. Read the time difference between the CH1 and CH2 transition edges on an oscilloscope, and repeat the measurement 50 times. After eliminating gross errors, the expected value of the time difference is calculated and cross-validated in combination with the theoretical delay of the bus transmission baud rate. In this embodiment, after the above calibration steps, the average time difference is measured to be 78.5ms. Considering the small fluctuations in the internal software interrupt response of the controller, the uncertainty is ±2ms. Finally, the inherent communication delay time constant Δt of the system is set to 80ms (0.08s). S448. Perform time calculus on the real-time spatial coordinate features obtained in S43 to extract the real-time vertical running speed features of the antenna tower at the moment of capture. In specific implementation, the above embodiment S448 specifically involves: calculating the real-time vertical running speed characteristics of the antenna tower descending at high speed at the moment of capture by dividing the encoder reading difference of two consecutive clock cycles by the time interval. vh e =-0.1m / s; S449. Based on the timestamp of the received data, and combined with the electromechanical communication delay characteristics and real-time speed characteristics, reverse the calculation of the actual physical spatial coordinates of the antenna and the turntable when the EMI receiver actually measured. In specific implementation, the above embodiment S449 specifically involves: using inverse kinematics formulas to calculate the actual physical height at the time the data was generated. h true = h en -( vh e *Δ t =1.325-(-0.1*0.08)= 1.333m; Due to the 80ms delay and the rapid descent of the antenna, the actual physical height corresponding to the data is 1.333 meters, not the 1.325 meters currently displayed by the encoder; This 1.333 meters is the height feature in the corrected precise spatial coordinates; S4410. Calculate the spatial misalignment deviation between the real physical space coordinates and the real-time space coordinate features obtained in S43; extract the spatial radiation gradient corresponding to the height and angle direction of the coordinate point calculated in S2, multiply the spatial misalignment deviation by the spatial radiation gradient, calculate the field strength level error amplitude caused by the position misalignment, and obtain the electromechanical delay misalignment compensation term. In specific implementation, the above embodiment S4410 specifically involves: calculating the spatial misalignment deviation Δ h er = h true - h en =1.333-1.325=0.008m; Query the gradient matrix of the heatmap generated by S2, and find the vertical spatial radiation gradient at a position with a height of 1.333m and an angle of 45.2°. Grad h =2.5dB / m; Here, the gradient characteristics obtained by S2 interpolation are used, which gives the compensation calculation physical significance of the space electromagnetic field; Computer electrical delay misalignment compensation item C delay =Δ h er * Gradh =0.008 * 2.5 = 0.02 dB; Add all compensation terms together to calculate the true field strength data: E real = V raw + AF dy + L path + C delay =18.5+12.35+0.13+0.02=31.00dBμV / m; It should be further explained that in the above electromechanical delay misalignment compensation logic, the heat map generated by S2 is used as prior knowledge and substituted into the real-time calculation of S4. The physical premise is that this method is applicable to scenarios where the radiation characteristics and operating mode of the device under test (EUT) remain relatively stable or periodically reproducible throughout the entire test cycle (this is also a typical premise for CISPR and other standards to evaluate EUT). Furthermore, if the EUT has slow time-varying drift, the system can use the real field strength data captured in real time during the execution of S4 to perform online Kalman filtering to update the heat map and spatial radiation gradient matrix of S2, so that the gradient value on which the compensation is based is more in line with the real electromagnetic environment at the current moment. The above embodiments, by establishing compensation formulas that include time, height, angle, and speed, abandon the traditional practice of treating antenna coefficients and test distances as static dead constants in EMC testing; they restore AF drift caused by near-ground capacitive coupling through cubic spline interpolation, compensate for energy loss caused by slant range extension through the Pythagorean theorem and logarithmic attenuation formula, and eliminate spatial trailing errors during dynamic continuous scanning by using inverse kinematics combined with the S2 spatial radiation gradient; thus, the final calculated true field strength approaches the physical limit of accuracy, reducing the overall measurement uncertainty of the system. The above embodiment S5 includes the following steps: S51. Extract the full-band real field strength data matrix and the corresponding corrected precise spatial coordinates after S4 multi-dimensional real-time dynamic compensation. S52. For each test frequency point, perform local and global extreme value search in the real field strength data matrix to lock the maximum radiated disturbance extreme value and extract the corrected precise spatial coordinates bound to the extreme value. In specific implementation, the above embodiment S52 specifically involves: after traversing the real field strength data matrix at a frequency of 150MHz, the system searches for the global maximum radiated disturbance extremum. E max =38.6dBμV / m; Simultaneously, the precise spatial coordinates of the extreme value, corrected by reverse engineering in S4, were extracted: height. h =1.85m, angle i =112°, antenna polarization direction = vertical. S53. Compare the maximum radiated disturbance extreme value with the CISPR standard limit line and calculate the margin value; if the margin value is less than the safety threshold, generate an over-limit warning mark; In specific implementation, the above embodiment S53 specifically involves: retrieving the CISPR 32 Class B limit value L. imit =40.0dBμV / m; Calculate the margin value Margin=L imit - E max =40.0-38.6=1.4dB; the safety threshold is set to 3.0dB; since the calculated 1.4 dB < 3.0 dB, the system automatically generates a red warning sign; S54. Use natural language to generate templates to transform the maximum radiated disturbance extreme value, corrected precise spatial coordinates, margin value and warning mark into structured test conclusion text; The system calls the three-dimensional radiation disturbance continuous spatial heat map generated by S2, highlights the three-dimensional location of the extreme values ​​on the heat map using the corrected and accurate spatial coordinates extracted by S52, automatically typesets the text and heat map, and exports the intelligent test report. In specific implementation, the above embodiment S54 is as follows: The system calls a preset template to generate a structured test conclusion text: At the 150MHz test frequency, the system captures a global maximum radiation level of 38.6 dBμV / m in a vertical polarization state with an antenna height of 1.85 meters and a turntable angle of 112°; after dynamic slant range and antenna coefficient compensation correction, this value is only 1.4 dB away from the standard limit, which poses an extremely high risk of test failure. It is recommended to focus on investigating the radiation of exposed cables at this angle. Simultaneously, the system calls the three-dimensional radiation disturbance continuous space heat map generated in step S2, using (1.85m, 112°) extracted in step S52 as the coordinate input, and renders a flashing red crosshair at the corresponding grid position in the heat map; finally, the conclusion text and the three-dimensional heat map with the crosshair are automatically assembled into a PDF intelligent test report. For further details, please refer to Figure 2 This invention also provides an EMC radiated emissions test antenna scanning path planning and real-time data compensation control system, implementing the aforementioned EMC radiated emissions test antenna scanning path planning and real-time data compensation control method. The system includes a multi-dimensional state space initialization module, a spatial interpolation and heatmap construction module, an adaptive path planning module, a multi-dimensional real-time data compensation module, and an extreme value locking and report generation module, wherein: The aforementioned multi-dimensional state space initialization module is used to control the antenna tower and turntable to perform rapid sparse pre-scanning and extract the original discrete field strength data and three-dimensional spatial coordinate features of the device under test at each test frequency. The aforementioned spatial interpolation and heatmap construction module is used to receive the original discrete field strength data and three-dimensional spatial coordinate features, and to perform continuous mapping calculation on the original discrete field strength data using the three-dimensional kriging spatial interpolation algorithm to generate a three-dimensional continuous spatial heatmap of radiation disturbance and spatial radiation gradient. The aforementioned adaptive path planning module is used to receive a three-dimensional radiation disturbance continuous spatial heat map and spatial radiation gradient, dynamically plan the linkage scanning path using an improved heuristic ant colony algorithm, and output a nonlinear motion trajectory control command sequence. The aforementioned multidimensional real-time data compensation module is used to execute nonlinear motion trajectory control command sequences, extract real-time spatial coordinate features and electromechanical communication delay features, calculate compensation terms by combining spatial radiation gradient, and output real field strength data and corrected accurate spatial coordinates. The aforementioned extreme value locking and report generation module is used to traverse real field strength data to lock extreme values ​​and corrected precise spatial coordinates, and combine them with a three-dimensional continuous spatial heat map of radiation disturbance to generate an intelligent test report. This invention breaks through the technical bottlenecks of fixed-step blind scanning and static dead constant calculation in traditional EMC radiated emissions testing; by combining sparse pre-scanning with spatial interpolation mapping, it endows the test system with the ability to globally perceive the spatial distribution of unknown electromagnetic fields; by using heuristic algorithms, it transforms mechanical scanning into intelligent optimization and tracking of hot zone dwell and cold zone crossing, thus reconstructing the test path; this invention constructs a multi-dimensional dynamic compensation formula that integrates physical geometry and temporal characteristics, incorporating near-ground capacitive coupling drift caused by antenna height changes, free-space energy attenuation caused by slant range extension, and spatial trailing caused by electromechanical communication lag during continuous motion into the real-time calculation system.

[0016] This invention improves testing efficiency and reduces mechanical wear on the antenna tower and turntable through adaptive path planning; it eliminates systematic errors that are easily overlooked in traditional testing during near-field, high-frequency, and continuous dynamic capture through a dynamic compensation mechanism, making the final captured field strength extreme value approach the physical limit of accuracy; combined with intuitive three-dimensional heat map spatial precise positioning, it provides engineers with directional electromagnetic interference rectification basis, realizing the improvement of EMC testing efficiency and measurement accuracy.

[0017] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0018] The preferred embodiments of the invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention.

Claims

1. An EMC radiation disturbance test antenna scanning path planning and real-time data compensation control method, characterized in that, Includes the following steps: S1. Control the antenna tower and turntable to perform full space traversal at maximum mechanical running speed and sparse sampling step size to extract the original discrete field strength data and three-dimensional spatial coordinate features of the device under test at each test frequency. S2. Using the three-dimensional kriging space interpolation algorithm based on the semi-variance function, the three-dimensional spatial coordinate features extracted in S1 are used as independent variables to perform continuous mapping calculation on the original discrete field strength data, generating a three-dimensional continuous spatial heat map of radiation disturbance at each frequency point around the device under test, and calculating the spatial radiation gradient based on the heat map. S3. Using an improved heuristic ant colony algorithm, based on the radiation intensity and spatial radiation gradient of the three-dimensional radiation disturbance continuous spatial heat map in S2, the linkage scanning path and real-time running speed are dynamically planned to generate a nonlinear motion trajectory control command sequence. S4. Execute the nonlinear motion trajectory control command sequence generated by S3; extract the real-time spatial coordinate features and electromechanical communication delay features during real-time operation, and combine them with the spatial radiation gradient in S2 to perform multi-dimensional real-time dynamic compensation, converting the real-time captured raw field strength readings into real field strength data and corrected accurate spatial coordinates. S5. Based on the real field strength data output by S4 and the corrected precise spatial coordinates, the maximum extreme value of radiated disturbance at each frequency point is locked. Extreme value data is transformed into structured text using natural language templates, and then combined with the three-dimensional radiation disturbance continuous spatial heat map generated by S2 to generate an intelligent test report.

2. The EMC radiated disturbance test antenna scanning path planning and real-time data compensation control method according to claim 1, characterized in that, S1 includes the following steps: S11. Establish a three-dimensional rectangular coordinate system for the semi-anechoic chamber; define the radiation center of the device under test as the origin of the three-dimensional rectangular coordinate system; and use the rotation angle of the turntable and the lifting height of the antenna tower as the horizontal azimuth feature and vertical height feature in the three-dimensional coordinate system, respectively. S12. Control the antenna tower to operate at the maximum safe lifting speed and the turntable to operate at the maximum safe rotational angular velocity; according to the preset large-span sparse sampling step size, control the EMI receiver to perform peak detection fast scanning in the entire frequency band, extract the original discrete field strength data of each frequency point, and simultaneously record the horizontal azimuth angle features and vertical height features to form an initial discrete dataset containing the original discrete field strength data and three-dimensional spatial coordinate features.

3. The EMC radiated disturbance test antenna scanning path planning and real-time data compensation control method according to claim 2, characterized in that, S2 includes the following steps: S21. Define the grid resolution of the three-dimensional radiated disturbance continuous space heatmap; divide the continuous space containing antenna height and turntable angle into discrete three-dimensional grid nodes; S22. Use the semivariance function to quantify the spatial correlation of the original discrete field strength data in the initial discrete dataset in S12; extract the three-dimensional spatial coordinate features in S1, calculate the expected square of the spatial distance and field strength difference between any two known sampling points, and fit the theoretical semivariance variogram model. S23. Based on the theoretical semivariogram model, construct an unbiased optimal linear estimation equation set; calculate the Kriging weight coefficients of each known sampling point to the unknown three-dimensional mesh node; S24. The original discrete field strength data of S1 is weighted and summed with the corresponding Kriging weight coefficients to calculate the predicted field strength values ​​of all three-dimensional grid nodes, generating a three-dimensional continuous spatial heat map of radiation disturbance; and the spatial radiation gradient of each node in the height and angle directions is obtained by performing first-order difference calculation on the predicted field strength values ​​of adjacent grid nodes.

4. The EMC radiated disturbance test antenna scanning path planning and real-time data compensation control method according to claim 3, characterized in that, S3 includes the following steps: S31. Define the scanning state space; the scanning state space includes hot zone, warm zone and cold zone; set field strength attention threshold and gradient mutation threshold; if the predicted field strength value of the three-dimensional mesh node is greater than the field strength attention threshold, or its three-dimensional spatial radiation gradient is greater than the gradient mutation threshold, it is determined to be a hot zone; if the predicted field strength value is less than the safety baseline and the gradient is gentle, it is determined to be a cold zone; the rest are determined to be warm zones. S32. Based on the scanned state space, the pheromone matrix is ​​initialized using an improved heuristic ant colony algorithm; the pheromone concentration of hot zone nodes is initialized to the highest value, and the pheromone concentration of cold zone nodes is initialized to the lowest value. S33. When an ant selects the next target grid node, it calculates the transition probability of the scanning path based on the pheromone concentration and by introducing a heuristic function. The heuristic function is directly proportional to the predicted field strength value of the target grid node and inversely proportional to the mechanical movement time from the current node to the target node. S34. Generate a linkage scanning path that traverses all hot zones and takes into account the warm zones based on the transition probability; dynamically allocate the running speed and sampling step size according to the region: plan the maximum speed and leap step size in the cold zone, plan the minimum speed and dense dwell step size in the hot zone, and generate a nonlinear motion trajectory control command sequence with time sequence markers.

5. The EMC radiated emissions test antenna scan path planning and real-time data compensation control method of claim 4, wherein, S4 includes the following steps: S41. Define a multidimensional real-time dynamic compensation formula; the multidimensional real-time dynamic compensation formula includes the original field strength reading, dynamic antenna coefficient compensation term, dynamic spatial line-of-sight loss compensation term, and electromechanical delay misalignment compensation term. S42, the system controller drives the antenna tower and turntable to move according to the nonlinear motion trajectory control command sequence generated by S3; the EMI receiver synchronously captures the original field strength reading in continuous scanning mode; S43. At the instant of capturing the original field strength reading, synchronously read the real-time high-precision encoder data of the servo motor as the real-time spatial coordinate feature, and read the system communication clock stamp to extract the electromechanical communication delay feature. S44. Substitute the real-time spatial coordinate features obtained in S43 into the multi-dimensional real-time dynamic compensation formula to calculate the dynamic antenna coefficient compensation term and the dynamic spatial line-of-sight loss compensation term respectively. The computer electrical delay misalignment compensation term for the spatial radiation gradient generated by S2 is used by combining real-time spatial coordinate features, electromechanical communication delay features, and S2-generated spatial radiation gradient. The dynamic antenna coefficient compensation term, dynamic spatial line-of-sight loss compensation term, and electromechanical delay misalignment compensation term are superimposed on the original field strength reading to output the true field strength data after eliminating errors, and output the accurate spatial coordinates after reverse calculation correction.

6. The method for EMC radiated emissions testing antenna scanning path planning and real-time data compensation control according to claim 5, characterized in that, The calculation of the dynamic antenna coefficient compensation term in S44 includes the following steps: S441. Extract the static antenna coefficient reference matrix of the antenna at different standard heights and corresponding to different frequency points; the static antenna coefficient reference matrix includes the characteristics of different capacitive coupling effects between the antenna and the semi-anechoic chamber ground caused by height changes; S442. Extract the real-time precise altitude features of the antenna from the real-time spatial coordinate features obtained in S43, and extract the current test frequency. S443. Using the real-time accurate height characteristics of the antenna as interpolation nodes, perform real-time nonlinear interpolation calculations in the static antenna coefficient reference matrix using the cubic spline interpolation algorithm; construct a smooth polynomial function based on the height characteristics, calculate the dynamic antenna coefficients at the current accurate height, and obtain the dynamic antenna coefficient compensation term.

7. The EMC radiated disturbance test antenna scanning path planning and real-time data compensation control method according to claim 5, characterized in that, The calculation of the dynamic spatial line-of-sight loss compensation term in S44 includes the following steps: S444. Extract the radiation center height characteristics and standard horizontal test distance characteristics of the device under test; S445. Based on the real-time accurate height features of the antenna in the real-time spatial coordinate features obtained in S43, construct a spatial right-angled triangle geometric physical model; use the Pythagorean theorem to calculate the real-time linear physical slant distance from the antenna phase center to the radiation center of the device under test; S446. Based on the free-space electromagnetic wave propagation attenuation model, calculate the path loss difference between the real-time straight-line physical slant range and the standard horizontal test distance; using the logarithmic distance path loss formula, convert the path loss difference into decibels to obtain the dynamic space line-of-sight loss compensation term.

8. The EMC radiated disturbance test antenna scanning path planning and real-time data compensation control method according to claim 5, characterized in that, The computer electrical delay misalignment compensation item in S44 includes the following steps: S447. Extract the inherent communication delay time constant of the system, which is pre-calibrated from the time the antenna tower / turntable moves to a specific physical position, to the time the EMI receiver completes data capture and transmits it back to the controller, and obtain the electromechanical communication delay characteristics. S448. Perform time calculus on the real-time spatial coordinate features obtained in S43 to extract the real-time vertical running speed features of the antenna tower at the moment of capture. S449. Based on the timestamp of the received data, and combined with the electromechanical communication delay characteristics and real-time speed characteristics, reverse the calculation of the actual physical spatial coordinates of the antenna and the turntable when the EMI receiver actually measured. S4410. Calculate the spatial misalignment deviation between the real physical space coordinates and the real-time space coordinate features obtained in S43; extract the spatial radiation gradient corresponding to the height and angle direction of the coordinate point calculated in S2, multiply the spatial misalignment deviation by the spatial radiation gradient, calculate the field strength level error amplitude caused by position misalignment, and obtain the electromechanical delay misalignment compensation term.

9. The EMC radiated emissions test antenna scan path planning and real-time data compensation control method of claim 5, wherein, S5 includes the following steps: S51. Extract the full-band real field strength data matrix and the corresponding corrected precise spatial coordinates after multi-dimensional real-time dynamic compensation in S4. S52. For each test frequency point, perform local and global extreme value search in the real field strength data matrix to lock the maximum radiated disturbance extreme value and extract the corrected precise spatial coordinates bound to the extreme value. S53. Compare the maximum radiated disturbance extreme value with the CISPR standard limit line and calculate the margin value; if the margin value is less than the safety threshold, generate an over-limit warning mark; S54. Use natural language to generate templates to transform the maximum radiated disturbance extreme value, corrected precise spatial coordinates, margin value and warning mark into structured test conclusion text; The system calls upon the three-dimensional radiation disturbance continuous spatial heat map generated by S2, highlights the three-dimensional locations of extreme values ​​on the heat map using the corrected and accurate spatial coordinates extracted by S52, automatically typesets the text and heat map, and exports an intelligent test report.

10. An EMC radiated disturbance test antenna scan path planning and real-time data compensation control system, characterized in that, The system implementing the EMC radiated emissions test antenna scanning path planning and real-time data compensation control method as described in any one of claims 1-9 includes: Multidimensional state space initialization module: used to control the antenna tower and turntable to perform rapid sparse pre-scanning and extract the original discrete field strength data and three-dimensional spatial coordinate features of the device under test at each test frequency; Spatial interpolation and heatmap construction module: Receives raw discrete field strength data and three-dimensional spatial coordinate features, uses a three-dimensional kriging spatial interpolation algorithm to perform continuous mapping calculation on the raw discrete field strength data, and generates a three-dimensional continuous spatial heatmap of radiation disturbance and spatial radiation gradient. Adaptive path planning module: Receives a three-dimensional continuous spatial heat map of radiation disturbance and spatial radiation gradient, dynamically plans the linkage scanning path using an improved heuristic ant colony algorithm, and outputs a sequence of nonlinear motion trajectory control commands. Multidimensional real-time data compensation module: Executes nonlinear motion trajectory control command sequence, extracts real-time spatial coordinate features and electromechanical communication delay features, calculates compensation terms by combining spatial radiation gradient, and outputs real field strength data and corrected accurate spatial coordinates; Extreme value locking and report generation module: It iterates through real field strength data to lock extreme values ​​and corrected precise spatial coordinates, and combines them with a three-dimensional continuous spatial heat map of radiation disturbance to generate an intelligent test report.

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