CN116953356A - Ground-air integrated three-dimensional space radio spectrum monitoring method and system - Google Patents

Abstract

The invention discloses the technical field of radio spectrum monitoring, and in particular discloses a ground-air integrated three-dimensional space radio spectrum monitoring method and system. The monitoring method includes: constructing a flight area radio monitoring receiver built into the aircraft seeker and capable of covering the first area of the aircraft. It is composed of a variety of ground-air integrated monitoring stations in the navigation area and terminal area; and the radio spectrum signals collected by the ground-air integrated multiple monitoring station combined monitoring system are three-dimensionally gridded to build an electromagnetic scene model and integrate the electromagnetic spectrum into a three-dimensional grid. Visual display of scene model. The radio spectrum monitoring system includes: a flight area radio monitoring receiver built into the aircraft seeker, and a ground-air integrated multiple monitoring station combination that can cover the electromagnetic environment of the aircraft's first area, flight area and final area. Monitoring method of the present invention As well as a monitoring system, it realizes comprehensive monitoring and early warning of the radio spectrum, and also has the functions of digitization, visual processing and providing data support for flight experiments.

Description

Ground-air integrated three-dimensional space radio spectrum monitoring method and system

Technical field

The present invention relates to the technical field of radio spectrum monitoring, and in particular to a ground-air integrated three-dimensional space radio spectrum monitoring method and system for an aircraft launch site.

Background technique

The statements in this section merely provide background technology related to the disclosure of the present invention and do not necessarily constitute prior art.

In the modern electromagnetic environment, aircraft are increasingly used, and radio spectrum monitoring and early warning of the electromagnetic environment of aircraft have become crucial tasks. Aircraft mainly refers to aircraft, spacecraft, rockets and missiles. When these aircraft are flying, especially the electromagnetic environment in the first area, navigation area and final area of low-altitude aircraft such as helicopters, drones, rocket aircraft, etc., radio communication is very critical. Spectrum usage by radio equipment such as radar and radar is critical to aircraft movement. Therefore, it is urgent to develop a system that can monitor and warn the radio spectrum of the electromagnetic environment of aircraft.

Currently, some traditional radio spectrum monitoring systems have some limitations. They usually can only monitor within a limited geographical range and cannot provide comprehensive three-dimensional display and early warning functions of electromagnetic scenes. In addition, these systems also have difficulties in processing and analyzing large amounts of monitoring data, and cannot accurately extract and filter key information.

Among the prior art, Korean patent KR101157040B1, discloses a system for simulating measurement radar tracking and a visualization method using simulation results, which improves tracking accuracy by providing the best tracking part of the measurement radar before actual testing. Its specific implementation is through the use of target DB target modeling, radar modeling and meteorological-based environment modeling, through multiple measurement radar tracking simulator modeling data, and through the measurement radar simulation program to perform radar measurements based on the modeling data. , generate the position information of the target, then perform data processing and transmit the data to 2D and 3D visualization equipment for measurement of radar tracking, and finally realize the simulation of radar tracking. The pictures displayed on the two-dimensional visualization screen mainly display the trajectory of the target by using the result data of the measurement radar tracking simulator transmitted to the network. 3D visualization screen showing radar, target and optical tracking. This display method can only track and display working radars, can only monitor within a limited geographical range, and cannot provide comprehensive three-dimensional display and early warning functions of electromagnetic scenes.

The technical problems that need to be solved in this application are: how to solve the limited scope of radio spectrum system monitoring in the existing technology, and how to achieve comprehensive and accurate display and early warning of radio magnetic fields, thereby improving the accuracy of radio spectrum signal monitoring.

Contents of the invention

In order to overcome the shortcomings of the above-mentioned prior art, the present invention provides a ground-air integrated multiple monitoring station combined monitoring system that covers the electromagnetic environment of the aircraft's first area, flight area and terminal area, and combines the ground-air integrated multiple monitoring stations. The radio spectrum signals collected by the combined monitoring system of the monitoring station are gridded in three dimensions to construct an electromagnetic scene model, and the collected radio spectrum signals are visually displayed in the form of an electromagnetic scene model, achieving comprehensive monitoring and early warning of the radio spectrum. , a ground-air integrated three-dimensional space radio spectrum monitoring method and monitoring system that simultaneously has the functions of digitization, visual processing and providing data support for flight experiments.

The technical solution adopted by the present invention is: a ground-space integrated three-dimensional space radio spectrum monitoring method, which is characterized in that the radio spectrum monitoring method at least includes:

Construct a ground-air integrated multiple monitoring station combined monitoring system. The ground-air integrated multiple monitoring station combined monitoring system includes a flight area radio monitoring receiver built into the aircraft seeker, and a flight area radio monitoring receiver capable of covering the aircraft's first area, flight area and The electromagnetic environment formed by the combination of multiple ground-air integrated monitoring stations in the terminal area. The air zone radio monitoring receiver transmits monitoring data through ground-air satellites. The multiple ground-air integrated monitoring stations collect radio spectrum signals during the flight of the aircraft; as well as

The radio spectrum signals collected by the ground-space integrated multiple monitoring station combined monitoring system are three-dimensionally gridded to construct an electromagnetic scene model, and the electromagnetic scene model is visually displayed, wherein: the three-dimensional gridding includes collecting Or obtain map longitude and latitude information and altitude data, further including dividing the geographical space formed by the electromagnetic scene model according to the geographical coordinates and altitude information into several three-dimensional grid units, and further including allocating radio spectrum to each of the three-dimensional grid units. Signal is used to characterize the properties of electromagnetic information.

In this technical solution, the collected radio spectrum signals are digitized and analyzed qualitatively and quantitatively. The radio spectrum signals are filtered and screened based on the analysis results to exclude irrelevant radio spectrum signals; and in the electromagnetic scene Potential threat signals are identified in the model, which is used to evaluate the history and testing of the ground-space integrated three-dimensional space radio spectrum system and accumulate test data.

In this technical solution, when collecting radio spectrum signals, the position of the interference source is obtained through the multi-point ranging and positioning algorithm angle estimation positioning algorithm.

In this technical solution, when potential threat signals are identified in the electromagnetic scene model, an autocorrelation algorithm is used to identify unknown threat signals and an early warning is displayed through a three-dimensional grid, where:

The autocorrelation algorithm is used to determine the periodicity and similarity of signals. The calculation formula for the autocorrelation function R(k) of the discrete time signal x(n) is:

R(k) = ∑[x(n) * x(n - k)];

R(k) represents the autocorrelation function, ∑ represents the summation of all time indexes, k is the delay index, n is a positive integer with n space-time points.

In this technical solution, when a potential threat signal is identified in the electromagnetic scene model, a three-dimensional grid display for energy exceeding the standard warning is then identified by comparing it with the radio spectrum signal of the known signal library; or through an energy monitoring algorithm Determine whether the signal exceeds the standard and identify the energy exceedance warning three-dimensional grid display, where:

The energy detection formula of the energy detection algorithm for the discrete time signal x(n) can be expressed as:

E = ∑[x(n) ² ];

Among them, E represents the energy of the signal, ∑ represents the summation of all time indices, x(n) is the discrete time signal, n is a positive integer with n space-time points.

In this technical solution, the electromagnetic information representation attribute is any one or more of frequency, power and modulation method.

The ground-space integrated radio spectrum monitoring system shall at least include:

An airspace radio monitoring receiver built into the seeker of the aircraft, which transmits monitoring data via ground-to-air satellites; and

A combination of ground-air integrated multiple monitoring stations that can cover the electromagnetic environment of the aircraft's first area, flight area and terminal area. The ground-air integrated multiple monitoring station combination collects radio spectrum signals during the flight of the aircraft through wired communication or wireless communication. And the collected radio spectrum signals are visually displayed.

In this technical solution, the combination of multiple ground-air integrated monitoring stations includes land-based radio monitoring stations, mobile airspace UAV radio mobile monitoring stations, and tower-based radio fixed measuring stations.

In this technical solution, the land-based radio monitoring station includes a land-based mobile monitoring station and/or a land-based fixed monitoring station.

In this technical solution, the tower-based radio fixed measuring station includes a high-altitude fixed monitoring station and/or a medium-altitude fixed monitoring station and/or a low-altitude fixed monitoring station.

Compared with the prior art, the beneficial effects of the present invention are:

1. Construct a ground-air integrated multiple monitoring station combined monitoring system that can monitor, display and provide early warning for the electromagnetic environment of the aircraft's first area, flight area and final area. The monitoring system has a combination of multiple monitoring stations. The multiple monitoring station combination monitoring system includes but is not limited to land-based radio fixed monitoring stations, land-based radio mobile monitoring stations, tower-based radio fixed monitoring stations, and space-based radio UAVs. The monitoring station and the aircraft seeker have built-in area radio monitoring receivers to cover a wide flight range.

2. This radio spectrum monitoring method performs three-dimensional grid processing on the collected radio spectrum signals, that is, it divides the collected or obtained map latitude and longitude information and altitude data into several three-dimensional grid units, and then divides these three-dimensional grid units into Correlate with the electromagnetic information representing the properties of radio spectrum signals, construct an electromagnetic scene model with the correlated electromagnetic information, and realize the joint display of data and visualization of the electromagnetic scene model, realizing the visualization of radio spectrum signal data based on three-dimensional grid. display, providing a more accurate and comprehensive solution for aircraft electromagnetic environment monitoring.

3. In addition, for the collected radio spectrum signal data, by extracting key elements and achieving accurate filtering and screening of the signals, potential threat signals are identified in the electromagnetic scene model, which is used to integrate the ground-space three-dimensional space radio spectrum. The history and testing of the system are evaluated, and test data is accumulated to provide data support for subsequent flight experiments and improve the precise control of the aircraft.

In summary, the ground-air integrated three-dimensional space radio spectrum monitoring method and monitoring system of the present invention construct a ground-air integrated multiple monitoring station combined monitoring system covering the electromagnetic environment of the aircraft's first area, flight area and terminal area, and meet the requirements of Monitoring requirements for the electromagnetic environment in the first area, flight area and final area of the aircraft; and the collected radio spectrum signals are three-dimensionally gridded to build an electromagnetic scene model, and the collected radio spectrum signals are analyzed in the form of an electromagnetic scene model The visual display realizes comprehensive monitoring and early warning of the radio spectrum, and also has the functions of digitization, visual processing and providing data support for flight experiments. This system has important application value in aircraft monitoring and electromagnetic situation acquisition.

Description of the drawings

Figure 1 is a flow chart of an embodiment of the ground-space integrated three-dimensional space radio spectrum monitoring method;

Figure 2 is a flow chart of another embodiment of the ground-space integrated three-dimensional space radio spectrum monitoring method;

Figure 3 is a block diagram of the ground-space integrated radio spectrum monitoring system;

Figure 4 is a three-dimensional electromagnetic signal distribution diagram of time point t ₀ and frequency point f ₀ monitored using the above-mentioned radio spectrum monitoring method and radio spectrum monitoring system;

Figure 5 is a three-dimensional electromagnetic signal distribution diagram of time point t ₁ and frequency point f ₀ monitored using the above radio spectrum monitoring method and radio spectrum monitoring system;

Figure 6 is a three-dimensional electromagnetic signal distribution diagram of time point t _n and frequency point f ₀ monitored using the above radio spectrum monitoring method and radio spectrum monitoring system;

Figure 7 is a three-dimensional electromagnetic signal distribution diagram of time point t ₀ and frequency point f ₁ monitored using the above radio spectrum monitoring method and radio spectrum monitoring system;

Figure 8 is a three-dimensional electromagnetic signal distribution diagram of time point t ₀ and frequency point f monitored using the above radio spectrum monitoring method and radio spectrum monitoring system;

Among them: 1-radio monitoring receiver, 2-land-based radio monitoring station, 21-land-based mobile monitoring station, 22-land-based fixed monitoring station; 3-mobile airspace UAV radio mobile monitoring station, 4-tower-based radio Measuring stations, 41-high airspace fixed monitoring station, 42-medium airspace fixed monitoring station, 43-low airspace fixed monitoring station.

Detailed ways

Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the drawings are exemplary and are only used to explain the present invention and cannot be understood as limiting the present invention.

As shown in Figure 1, the ground-space integrated three-dimensional space radio spectrum monitoring method at least includes the following steps: S100. Construct a ground-space integrated multiple monitoring station combined monitoring system. The ground-air integrated multiple monitoring station combined monitoring system includes a built-in The electromagnetic environment is composed of the flight area radio monitoring receiver 1 of the aircraft seeker and the ground-air integrated multiple monitoring stations that can cover the first area, flight area and terminal area of the aircraft. The flight area radio monitoring receiver passes through the ground. The space satellite transmits monitoring data, and the combination of the ground-space integrated multiple monitoring stations collects radio spectrum signals during the flight of the aircraft; and step S200 performs three-dimensional network on the radio spectrum signals collected by the ground-space integrated multiple monitoring station combined monitoring system. gridding to construct an electromagnetic scene model and visually display the electromagnetic scene model, wherein: the three-dimensional gridding includes collecting or obtaining map longitude and latitude information and height data, and also includes forming the electromagnetic scene according to geographical coordinates and height information The geographical space is divided into several three-dimensional grid cells, and electromagnetic information characterization attributes including allocating radio spectrum signals to each of the three-dimensional grid cells are included. The radio electromagnetic scene model renderings obtained according to the above monitoring method are shown in Figures 4 to 8. The X, Y, and Z coordinates respectively represent the geographical three-dimensional space length, and the colors with different width and height represent the reception of electromagnetic signals at specific frequencies. The level and energy intensity gradually become stronger with the color depth. From this figure, you can intuitively observe the monitored radio electromagnetic scene spectrum signal, achieving comprehensive monitoring and early warning of the radio spectrum, making the system useful in aircraft monitoring. It has important application value in obtaining electromagnetic situation.

In the specific implementation process, the radio spectrum signal is gridded in three dimensions. The specific steps are:

a. Grid the collected radio spectrum signals in three dimensions to construct an electromagnetic scene model, as shown in Figure 2.

Scene construction: Collect or obtain map latitude and longitude information and altitude data, usually using geographic information system (GIS) data or satellite remote sensing data. These data include geographical coordinates, terrain, landforms, and location and height information of objects such as buildings and trees in the scene.

Grid division: Divide the scene into three-dimensional grids based on geographical coordinates and height information. According to the size and accuracy requirements of the scene, the geographical space is divided into small three-dimensional grid cells. Each grid cell represents a specific area of space, identified by a grid number or coordinates.

Grid electromagnetic information representation definition: Assign the electromagnetic information representation properties of the signal to each grid cell. Including frequency, power, modulation method, etc.

b. Realize the visualization of the electromagnetic scene and display the three-dimensional electromagnetic scene to the operator through a graphical interface or other appropriate methods.

c. Identify potential threat signals in the electromagnetic scene (compare with known signal library signals, provide early warning when the energy exceeds the standard, and then use the following energy monitoring algorithm to determine whether the signal exceeds the standard, and the autocorrelation algorithm identifies unknown threat signals and gives early warning), providing Early warning function to draw the operator's attention.

Energy Detection Algorithm: Energy detection algorithm is used to detect the presence and activity of signals. For a discrete time signal x(n), the energy detection formula can be expressed as: E = ∑[x(n) ² where E represents the energy of the signal, and ∑ represents the sum of all time indices.

Autocorrelation algorithm: The autocorrelation algorithm is used to determine the periodicity and similarity of signals. For the discrete time signal x(n), the calculation formula of its autocorrelation function R(k) is: R(k) = ∑[x(n) * x(n - k)] where R(k) represents autocorrelation The function, ∑ represents the summation of all time indices, and k is the delay index.

The steps for data processing and visualization are:

(a) Perform data processing on the collected radio spectrum signals and convert them into digital form for storage and analysis (spectrum signals can be stored directly, or time domain IQ signals can be stored).

(b) Conduct qualitative and quantitative analysis to extract key elements, such as frequency, energy, time, modulation method and location information.

(c) Filter and screen signals based on the analysis results (screen out energy exceeding the standard and unknown signals), exclude irrelevant signals and focus on potential threat signals.

In at least some embodiments, step S300 as shown in the embodiment of FIG. 2 is also included, where the collected radio spectrum signals are processed into data, and qualitative and quantitative analysis are performed, and the radio spectrum signals are filtered and analyzed based on the analysis results. Screening to eliminate irrelevant radio spectrum signals; and identifying potential threat signals in the electromagnetic scene model for evaluating the history and experiments of the ground-space integrated three-dimensional space radio spectrum system and accumulating experimental data.

In at least some embodiments, when collecting radio spectrum signals, the location of the interference source is obtained through a multi-point ranging positioning algorithm and an angle estimation positioning algorithm.

In at least some embodiments, when a potential threat signal is identified in the electromagnetic scene model, an autocorrelation algorithm is used to identify the unknown threat signal and display an early warning through a three-dimensional grid, where:

The autocorrelation algorithm is used to determine the periodicity and similarity of signals. The calculation formula for the autocorrelation function R(k) of the discrete time signal x(n) is:

R(k) = ∑[x(n) * x(n - k)];

R(k) represents the autocorrelation function, ∑ represents the summation of all time indexes, k is the delay index, n is a positive integer with n space-time points.

In at least some embodiments, when a potential threat signal is identified in the electromagnetic scene model, the energy exceedance warning three-dimensional grid display is then identified by comparing it with the radio spectrum signal of a known signal library; or through energy monitoring The algorithm determines whether the signal exceeds the standard and displays a three-dimensional grid display for energy exceeding the standard warning, where:

The energy detection formula of the energy detection algorithm for the discrete time signal x(n) can be expressed as:

E = ∑[x(n) ² ];

Among them, E represents the energy of the signal, ∑ represents the summation of all time indices, x(n) is the discrete time signal, n is a positive integer with n space-time points.

In at least some embodiments, the electromagnetic information representation attribute is any one or more of frequency, power, and modulation.

The above-mentioned ground-space integrated three-dimensional space radio spectrum monitoring method is used for simulation and experimental evaluation. The main steps are:

a. Use the collected data to support simulation and testing (conduct comparative analysis of experimental data and simulation data, find differences and flight electromagnetic monitoring loopholes, and optimize them), simulate different flight scenarios and evaluate system performance.

b. Compare and analyze the faults that occur and provide basis and solutions for fault handling.

c. Accumulate test data to provide data support and reference for subsequent flight experiments, thereby enhancing subsequent precise control of the aircraft.

As shown in Figure 4, the ground-air integrated radio spectrum monitoring system at least includes: an air zone radio monitoring receiver 1 built into the aircraft seeker. The air zone radio monitoring receiver transmits monitoring data through ground and air satellites; and can A combination of ground-air integrated multiple monitoring stations covering the electromagnetic environment of the aircraft's first area, flight area and terminal area. The ground-air integrated multiple monitoring station combination collects radio spectrum signals during the flight of the aircraft through wired communication or wireless communication, and Visualize the collected radio spectrum signals. The in-flight radio spectrum signals are collected through a combination of these ground-air integrated monitoring stations. The radio spectrum signal parameters include: frequency information, energy size, signal modulation mode, time and signal position information (through the following multi-point ranging algorithm and Angle estimation algorithm determined), etc., land-based radio mobile monitoring station, tower-based radio fixed monitoring station.

Multi-point ranging and positioning algorithm: The multi-point ranging and positioning algorithm uses the arrival time difference of interference signals at different monitoring points to calculate the location of the interference source. Assume that there are N monitoring points, the interference source position is (x, y, z), the i-th monitoring point is (x_i, y_i, z_i), and the arrival time difference is Gt_i, the following formula can be used to calculate the position of the interference source :

(x - x_i) ² + (y - y_i) ² + (z - z_i) ² = c ² * Ht_i ²

where c is the speed of light.

The system of equations obtained through multiple monitoring points can be solved using the least squares method or a nonlinear optimization algorithm to obtain an estimate of the location of the interference source.

Angle estimation positioning algorithm: The angle estimation positioning algorithm uses the arrival angle of interference signals at different monitoring points to estimate the location of the interference source. Assume that there are N monitoring points, the interference source position is (x, y, z), the i-th monitoring point is (x_i, y_i, z_i), and the arrival angle is θ_i, then the following formula can be used to calculate the position of the interference source :

(x - x_i) / cos(θ_i) = (y - y_i) / sin(θ_i) = (z - z_i) / tan(θ_i);

This is a triangular relationship, and the system of equations obtained through multiple monitoring points can be solved using the least squares method or nonlinear optimization algorithm to obtain the location estimate of the interference source.

In at least some embodiments, the combination of multiple ground-air integrated monitoring stations includes a land-based radio monitoring station 2, a mobile airspace UAV radio mobile monitoring station 3, and a tower-based radio measuring station 4.

In at least some embodiments, the land-based radio monitoring station includes a land-based mobile monitoring station 21 and/or a land-based fixed monitoring station 22.

In at least some embodiments, the tower-based radio fixed measuring station includes a high-altitude fixed monitoring station 41 and/or a medium-altitude fixed monitoring station 42 and/or a low-altitude fixed monitoring station 43.

In Figures 4 to 8, the coordinates X, Y, and Z respectively represent three-dimensional geographical location coordinates, and the color from light to dark represents the radio spectrum energy from small to large.

Figure 4 represents the three-dimensional electromagnetic signal distribution diagram at a time point t ₀ and a frequency point f _0. Compared with Figure 5, Figure 5 represents the three-dimensional electromagnetic signal distribution diagram at the next time point t ₂ and a frequency point f ₀ ; From Figure 4 to Figure 5, the changes in the energy distribution of the space radio electromagnetic environment at different times are represented.

Compared with Figure 4, the three-dimensional grid diagram of Figure 6 represents the nth time point t _n and a three-dimensional electromagnetic signal distribution diagram at a frequency point f _0. From Figure 4 to Figure 6, it represents the energy of the spatial electromagnetic environment at different times. Distribution changes.

The three-dimensional grid diagram of Figure 7, compared with Figure 4, represents the three-dimensional electromagnetic signal distribution diagram at the first time point t ₀ and the next frequency point f _1. From Figure 4 to Figure 7, it represents the same time at different frequencies. Changes in the energy distribution of the electromagnetic environment in space at a point.

The three-dimensional grid diagram shown in Figure 8, compared with Figure 4, represents the three-dimensional electromagnetic signal distribution diagram at the first time point t ₀ and the n-th frequency point f _en. From Figure 4 to Figure 8, the same representation is represented. The energy distribution of the electromagnetic environment in space changes at different frequency points at all times.

From Figures 4, 5, 6, 7, and 8, we can easily see the distribution area of the radio spectrum, and the visualization performance is strong. The monitoring system and method visually display the collected radio spectrum signals in the form of an electromagnetic scene model, achieving comprehensive monitoring and early warning of the radio spectrum. At the same time, it has the functions of digitization, visual processing and providing data support for flight experiments, making This system has important application value in aircraft monitoring and electromagnetic situation acquisition.

The embodiments of the present invention disclose preferred embodiments, but are not limited thereto. Persons of ordinary skill in the art can easily understand the spirit of the present invention based on the above embodiments and make different extensions and changes. However, as long as they do not deviate from the spirit of the present invention, they are all within the protection scope of the present invention.

Claims (10)

1. The ground-air integrated three-dimensional space radio spectrum monitoring method is characterized by at least comprising the following steps of:

the method comprises the steps of constructing an air-ground integrated multiple monitoring station combination monitoring system, wherein the air-ground integrated multiple monitoring station combination monitoring system comprises an air zone radio monitoring receiver which is arranged in an aircraft guiding head and can cover an electromagnetic environment formed by combining air-ground integrated multiple monitoring stations in the head zone, the air zone and the tail zone of an aircraft, the air zone radio monitoring receiver transmits monitoring data through an air-ground satellite, and the air-ground integrated multiple monitoring station combination collects radio spectrum signals in the flight of the aircraft; and

three-dimensional gridding is carried out on radio frequency spectrum signals collected by the ground-air integrated multiple monitoring station combined monitoring system to construct an electromagnetic scene model, the electromagnetic scene model is visually displayed,

wherein: the three-dimensional meshing comprises the steps of acquiring longitude and latitude information and altitude data of a map, dividing a geographic space formed by the electromagnetic scene model according to geographic coordinates and altitude information into a plurality of three-dimensional grid units, and distributing radio frequency spectrum signals for each three-dimensional grid unit for carrying out electromagnetic information characterization attribute.

2. The ground-air integrated three-dimensional space radio spectrum monitoring method according to claim 1, wherein: performing data processing on the collected radio spectrum signals, performing qualitative and quantitative analysis, and then filtering and screening the radio spectrum signals based on the analysis result to exclude irrelevant radio spectrum signals; potential threat signals are then identified in the electromagnetic scenario model for evaluation of histories and trials of the ground-air integrated three-dimensional spatial radio spectrum system and accumulation of trial data.

3. The ground-air integrated three-dimensional space radio spectrum monitoring method according to claim 2, wherein: and when radio spectrum signals are collected, the position of the interference source is obtained through a multi-point ranging and positioning algorithm angle estimation and positioning algorithm.

4. The ground-air integrated three-dimensional space radio spectrum monitoring method according to claim 2, wherein: when a potential threat signal is identified in the electromagnetic scene model, an unknown threat signal is identified by using an autocorrelation algorithm and early warning is displayed through a three-dimensional grid, wherein:

the autocorrelation algorithm calculates the autocorrelation function R (k) of the discrete-time signal x (n) as:

R(k) = ∑[x(n) * x(n - k)]；

r (k) represents an autocorrelation function, Σ represents summing all time indexes, k is a delay index, n is a positive integer, and n space-time points are provided.

5. The ground-air integrated three-dimensional space radio spectrum monitoring method according to claim 2, wherein: when a potential threat signal is identified in the electromagnetic scene model, the potential threat signal is compared with radio frequency spectrum signals of a known signal library, so that an energy exceeding early warning three-dimensional grid display is identified; or judging whether the signal exceeds the standard or not through an energy monitoring algorithm to identify the energy exceeding-standard early-warning three-dimensional grid display, wherein:

the energy detection algorithm can be expressed as an energy detection formula for the discrete-time signal x (n):

E = ∑[x(n) ² ] ；

where E represents the energy of the signal, Σ represents summing all time indices, x (n) is the discrete-time signal, n is a positive integer, and there are n spatio-temporal points.

6. A ground-air integrated three-dimensional space radio spectrum monitoring method according to any of claims 1-5, characterized in that: the electromagnetic information characterization attribute is any one or more than one of frequency, power and modulation mode.

7. Ground-air integrated radio spectrum monitoring system, characterized in that it comprises at least:

a airport radio monitoring receiver built in the aircraft seeker, wherein the airport radio monitoring receiver transmits monitoring data through an earth-air satellite; and

the system comprises a ground-air integrated multiple monitoring station combination capable of covering electromagnetic environments of a head region, a navigation region and a tail region of an aircraft, wherein the ground-air integrated multiple monitoring station combination collects radio spectrum signals in the flight of the aircraft through wired communication or wireless communication, and the collected radio spectrum signals are visually displayed.

8. A ground-air integrated radio spectrum monitoring system as set forth in claim 7, wherein:

the ground-air integrated multiple monitoring station combination comprises a land-based radio monitoring station, a mobile air-space unmanned aerial vehicle radio mobile monitoring station and a tower-base radio fixed measuring station.

9. A ground-air integrated radio spectrum monitoring system as set forth in claim 8, wherein: the land-based radio monitoring stations include land-based mobile monitoring stations and/or land-based stationary monitoring stations.

10. A ground-air integrated radio spectrum monitoring system according to claim 8 or 9, characterized in that: the tower foundation radio fixed measuring station comprises a high-airspace fixed monitoring station and/or a hollow domain fixed monitoring station and/or a low-airspace fixed monitoring station.