Directional electromagnetic pulse suppression method and system based on gallium nitride power module

Abstract

The invention provides a directional electromagnetic pulse suppression method and system based on a gallium nitride power module. The method comprises the steps of firstly triggering an electromagnetic radiation waveform, identifying the direction of an electromagnetic pulse propagating from a power system to a sensor area, then modulating the phase of a grid control signal of a gallium nitride power module in real time according to the direction of the electromagnetic pulse, and then applying the modulated grid control signal to a shielding layer of the sensor area of the unmanned aerial vehicle. Generating a reverse counteracting electromagnetic field opposite to the directional electromagnetic pulse in phase, and finally realizing mutual counteracting through spatial coupling of the reverse counteracting electromagnetic field and the directional electromagnetic pulse so as to suppress communication interference to a flight control unit located at a position adjacent to the sensor area; according to the technical scheme provided by the invention, efficient neutralization of electromagnetic interference is realized, the interference intensity of electromagnetic pulses on the flight control unit (such as a gyroscope, a magnetometer and a communication bus) is remarkably reduced, and accurate cancellation of electromagnetic field energy without additionally increasing electromagnetic shielding weight is also realized.

Description

Technical Field

[0001] This application relates to the technical field of unmanned aerial vehicles, and particularly to a method and system for suppressing directional electromagnetic pulses based on gallium nitride power modules. Background Art

[0002] Currently, lightweight unmanned aerial vehicles widely use gallium nitride (GaN) power modules to drive the motor system. Its high-frequency switching operation mode (MHz level) will excite high-intensity transient electromagnetic radiation. This electromagnetic energy exhibits significant directional propagation characteristics in space, forming a directional electromagnetic pulse, which can cause serious interference to flight control sensors (such as gyroscopes, magnetometers) and communication buses (such as I²C, CAN) in the adjacent layout (usually <5 cm), resulting in attitude calculation failure or even out of control.

[0003] At present, the mainstream solution adopts dynamic frequency tuning electromagnetic shielding technology based on artificial intelligence. The core process of this solution is: real-time collect the switching current waveform through the current sensor arranged at the power module end, and use the embedded AI chip to predict the spectral energy distribution characteristics of the radiation; then generate the corresponding anti-phase signal, and output this signal near the sensor area through the reconfigurable electromagnetic shielding layer, attempting to neutralize the original electromagnetic pulse energy at the physical level.

[0004] The key defect of this technology is that it completely does not consider the directional propagation characteristics of electromagnetic pulses in three-dimensional space. Since the pulse intensity shows non-linear attenuation with the propagation direction (strongly related to factors such as the azimuth of the radiation source and obstacle occlusion), and the generation of the anti-phase signal only depends on the spectral data without fusing spatial direction perception information. When the UAV maneuvers and causes a spatial deviation (typical deviation angle > ±30°) between the pulse propagation direction and the force application direction of the shielding layer, the actual interference suppression efficiency will drop sharply, unable to meet the safety requirements in complex flight environments. Summary of the Invention

[0005] This application provides a method and system for suppressing directional electromagnetic pulses based on gallium nitride power modules, aiming to solve the problem of low efficiency of reverse cancellation of electromagnetic field energy in the prior art due to the inability to dynamically adapt to the propagation direction of electromagnetic pulses in three-dimensional space.

[0006] In a first aspect, this application provides a method for suppressing directional electromagnetic pulses based on gallium nitride power modules, including: Utilize the high-frequency switching characteristics of the gallium nitride power module pre-configured in the power system of the UAV to trigger the electromagnetic radiation waveform; Based on the electromagnetic radiation waveform generated by the high-frequency switching action, identify the direction of the electromagnetic pulse propagating from the power system to the sensor area; According to the direction of the electromagnetic pulse, modulate the phase of the gate control signal of the gallium nitride power module in real time to obtain the modulated gate control signal; Synchronously apply the modulated gate control signal to the sensor area shielding layer of the UAV, and generate a reverse cancellation electromagnetic field with a phase opposite to that of the directed electromagnetic pulse through the conduction path of the sensor area shielding layer; Realize mutual cancellation through the spatial coupling of the reverse cancellation electromagnetic field and the directed electromagnetic pulse, and suppress the communication interference to the flight control unit located in the vicinity of the sensor area.

[0007] Optionally, trigger the electromagnetic radiation waveform by using the high-frequency switching characteristics of the gallium nitride power module pre-configured in the power system of the UAV, including: Through the gate drive unit of the gallium nitride power module, switch the internal current path of the gallium nitride power module at a preset frequency, forcing the current to instantaneously turn on and off between the drain and the source; At the moment of each current path switching, based on the coupling effect of the parasitic inductance and parasitic capacitance of the gallium nitride power module, generate a current mutation and excite a transient electromagnetic oscillation; Utilize the transient electromagnetic oscillation to radiate into the surrounding space through the module packaging structure, and generate an electromagnetic radiation waveform with a directional propagation characteristic.

[0008] Optionally, based on the electromagnetic radiation waveform generated by the high-frequency switching action, identify the direction of the electromagnetic pulse propagating from the power system to the sensor area, including: Through the multi-axis radiation induction unit on the power system circuit board of the UAV, capture the intensity distribution signals of the electromagnetic radiation waveform in different axial directions in space; Extract the waveform characteristics of the intensity distribution signal for each axial direction, and separate the transient oscillation component directly associated with the current mutation; Calculate the amplitude attenuation rate of the transient oscillation component between adjacent radiation induction units, and generate a spatial attenuation feature vector; Determine the direction of the electromagnetic pulse according to the axial direction corresponding to the maximum attenuation rate in the spatial attenuation feature vector. Optionally, according to the direction of the electromagnetic pulse, modulate the phase of the gate control signal of the gallium nitride power module in real time to obtain the modulated gate control signal, including: Input the direction feature vector corresponding to the electromagnetic pulse direction into the pre-deployed phase mapping unit, and output the phase compensation value through the preset proportional relationship; Obtain the original gate control signal of the gallium nitride power module; Based on the phase compensation value, perform a reverse translation operation on the rising edge and falling edge timings of the original gate control signal to obtain the translated timing signal; Output the translated timing signal as the modulated gate control signal.

[0009] Optionally, input the direction feature vector corresponding to the electromagnetic pulse direction into a pre-deployed phase mapping unit, and output a phase compensation value through a preset proportional relationship, including: Extract the spatial vector elements of the input direction feature vector to obtain scalar elements representing the attenuation degree of each propagation axial direction; Generate a current path offset corresponding to the scalar element according to the geometric azimuth relationship between each propagation axial direction and the target sensor area; Input the current path offset into the lookup table unit built in the phase mapping unit, and output a phase compensation value through a preset proportional relationship. Optionally, perform a reverse translation operation on the rising edge and falling edge timings of the original gate control signal based on the phase compensation value to obtain a translated timing signal, including: Generate independent timing segments synchronized with the switching period through the level transition edges of the original gate control signal, where the independent timing segments include a rising edge segment of the rising transition edge, a falling edge segment of the falling transition edge, and a non-transition edge segment composed of the signal steady state holding period; Insert a fixed delay amount into the rising edge segment according to the phase compensation value to generate a lag time axis; Insert a reverse fixed advance amount into the falling edge segment according to the phase compensation value to generate a leading time axis; splice the non-transition edge segment, the lag time axis, and the leading time axis in the original switching period order to generate a translated timing signal.

[0010] Optionally, synchronously apply the modulated gate control signal to the sensor area shielding layer of the UAV, and generate a reverse cancellation electromagnetic field with a phase opposite to that of the directional electromagnetic pulse through the conduction path of the sensor area shielding layer, including: Transmit the modulated gate control signal to the signal injection node at the boundary of the sensor area shielding layer through the conduction path extending from the sensor area shielding layer to the power system; Based on the impedance continuity of the conduction path, drive the free charges in the conduction path of the sensor area shielding layer to migrate directionally by the voltage signal of the signal injection node to generate a closed-loop time-varying current; Accumulate free charges at the turning position of the conduction path according to the geometric turning structure of the conduction path to generate a time-varying electric field perpendicular to the plane of the geometric turning structure; Generate a time-varying magnetic field around the current direction in the space around the conduction path based on the flowing direction of the closed-loop time-varying current; Couple the time-varying electric field perpendicular to the plane with the time-varying magnetic field around the current direction into a target reverse cancellation electromagnetic field.

[0011] In a second aspect, the present application provides a directional electromagnetic pulse suppression system based on a gallium nitride power module, including: A triggering module, configured to trigger an electromagnetic radiation waveform by using the high-frequency switching characteristics of a gallium nitride power module pre-configured in a power system of an unmanned aerial vehicle; An identifying module, configured to identify the direction of an electromagnetic pulse propagating from the power system to a sensor area based on the electromagnetic radiation waveform generated by the high-frequency switching action; A modulating module, configured to modulate the phase of a gate control signal of the gallium nitride power module in real time according to the direction of the electromagnetic pulse to obtain a modulated gate control signal; A generating module, configured to synchronously apply the modulated gate control signal to a shielding layer of a sensor area of the unmanned aerial vehicle, and generate a reverse cancellation electromagnetic field with a phase opposite to that of the directional electromagnetic pulse through a conductive path of the sensor area shielding layer; A suppressing module, configured to cancel each other through the spatial coupling of the reverse cancellation electromagnetic field and the directional electromagnetic pulse, and suppress the communication interference on a flight control unit located in a position adjacent to the sensor area.

[0012] In a third aspect, an embodiment of the present application provides a computing device, including a processing component and a storage component; the storage component stores one or more computer instructions; the one or more computer instructions are used to be called and executed by the processing component to implement a method for suppressing directional electromagnetic pulses based on a gallium nitride power module as described in the first aspect above.

[0013] In a fourth aspect, an embodiment of the present application provides a computer storage medium storing a computer program, where when the computer program is executed by a computer, it implements a method for suppressing directional electromagnetic pulses based on a gallium nitride power module as described in the first aspect.

[0014] In the embodiment of the present application, by dynamically identifying the propagation direction of an electromagnetic pulse triggered by high-frequency switching of a gallium nitride power module in space, and modulating the phase of a gate control signal in real time accordingly, a modulation signal synchronously applied to a shielding layer of a sensor area can generate a cancellation electromagnetic field with a phase exactly opposite to that of an interference pulse in a conductive path; through the spatial energy coupling of the reverse field and the original directional electromagnetic pulse in the propagation path, efficient neutralization of electromagnetic interference is achieved, and the interference intensity of the electromagnetic pulse on a flight control unit (such as a gyroscope, a magnetometer, and a communication bus) is significantly reduced, so as to ensure the stability of a flight control system and communication reliability in a scenario where the radiation direction dynamically shifts due to high-speed maneuvering of the unmanned aerial vehicle.

[0015] Furthermore, precise phase compensation values are generated through preset phase mapping relationships, and then reverse translation operations are performed on the rising and falling edge timings of the gate control signal. This operation utilizes the transient characteristics of current path switching to reconstruct the spatio-temporal distribution of the current mutation moment on the nanosecond time scale, ensuring that the generated reverse cancellation electromagnetic field achieves strict phase inversion matching with the interference pulse in the propagation direction. Finally, precise cancellation of the spatial electromagnetic field energy is achieved under lightweight hardware conditions without additional electromagnetic shielding weight.

[0016] These aspects or other aspects of the present application will be more clearly understood in the following description of the embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0018] Figure 1 FIG. shows a flowchart of a method for suppressing directional electromagnetic pulses based on a gallium nitride power module provided by the present application; Figure 2 FIG. shows a structural schematic diagram of a system for suppressing directional electromagnetic pulses based on a gallium nitride power module provided by the present application; Figure 3 FIG. shows a structural schematic diagram of a computing device provided by the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0019] In order to enable those skilled in the art to better understand the solutions of the present application, the following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application.

[0020] In some processes described in the specification, claims and above-mentioned drawings of the present application, there are multiple operations that appear in a specific order. However, it should be clearly understood that these operations may not be executed in the order in which they appear herein or may be executed in parallel. The operation numbers such as 101, 102, etc. are only used to distinguish different operations, and the numbers themselves do not represent any execution order. In addition, these processes may include more or fewer operations, and these operations may be executed in sequence or in parallel. It should be noted that the descriptions such as "first", "second", etc. in this article are used to distinguish different messages, devices, modules, etc., and do not represent a sequence, nor do they limit that "first" and "second" are of different types.

[0021] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative efforts belong to the scope of protection of the present application.

[0022] Figure 1 The following is a flowchart of a method for suppressing directed electromagnetic pulses based on a gallium nitride power module provided by an embodiment of the present application. As Figure 1 shown, the method includes: Step 101, triggering an electromagnetic radiation waveform by using the high-frequency switching characteristics of a gallium nitride power module pre-configured in the power system of a drone.

[0023] In this step, the high-frequency switching characteristics refer to the MHz-level gate drive ability supported by the electron mobility of the gallium nitride power module (the GaN material exceeds 2,000 cm² / V·s) and the transverse electric field strength (>3.3 MV / cm), and the on-off of the current is realized by quickly switching the internal two-dimensional electron gas channel; the electromagnetic radiation waveform is generated by the resonant coupling of the parasitic inductance (Lp) and the junction capacitance (Coss) when the current changes suddenly (dt < 1 ns), and its propagation shows spatial directivity. The axial direction of the main radiation intensity depends on the power module packaging structure (such as the electromagnetic coupling effect of the copper substrate).

[0024] In the embodiment of the present application, first, a timed square wave signal is output from the gate drive unit to the gate terminal of the gallium nitride power module, forcing the carriers in the channel to migrate between the source and drain electrodes in nanoseconds, generating a current path switching with a controllable switching period (the switching frequency range is 1-10 MHz); secondly, at the rising edge of each current path switching, the inductance effect (parasitic inductance Lp) of the bonding wire inside the module and the charging and discharging resonance of the chip junction capacitance (Coss) are used to excite a transient current pulse with a steep rising edge (di / dt > 200 A / μs); finally, with the electromagnetic induction mechanism of the current pulse in the copper layer of the power module packaging, an electromagnetic radiation waveform centered on the carrier fundamental frequency and with harmonic attenuation distribution is coupled to the surrounding space, and the main lobe radiation direction is determined by the geometric layout of the grounding layer of the packaging substrate.

[0025] For example, in the scenario where a quadcopter drone pitches forward by 30° and maneuvers at high speed, taking the 650V / 100A gallium nitride half-bridge module arranged in the power system as an example: the flight controller of the drone outputs a 200kHz PWM command to the gate drive chip (such as LM5113), and the drive unit converts it into a gate control signal with a peak value of +6V / -3V; when triggered at the rising edge of the signal, the channel of the gallium nitride chip is instantaneously turned on, and the drain current jumps from 0A to 82A within 15 ns (di / dt ≈ × (A / s), when the mutant current flows through the 1.2 nH parasitic inductance inside the power module, a back electromotive force is generated (U = L·di / dt ≈ 6.6 V), which excites the 5 pF junction capacitance in the package structure to generate damped oscillations (center frequency ≈ 230 MHz); the oscillation energy is radiated into space through the four-quadrant radiation structure of the module copper substrate, forming a main lobe with a 25° deflection in the positive X-axis direction (half-power beam width 60°) in the UAV body coordinate system, and this waveform is used as the original input for direction recognition in step 102.

[0026] Step 102: Based on the electromagnetic radiation waveform generated by the high-frequency switching action, identify the direction of the electromagnetic pulse propagating from the power system to the sensor area.

[0027] In this step, the multi-axis radiation induction unit refers to a micro near-field magnetic coupling coil array arranged in the orthogonal directions (X / Y / Z axes) of the power system circuit board, and its spatial sensitivity pattern covers omnidirectional radiation; the transient oscillation component is a high-frequency damped oscillation sub-wave separated from the original waveform through time-domain window filtering and strictly synchronized with the current mutation moment; the spatial attenuation eigenvector is a mathematical vector that quantifies the energy attenuation degree of the oscillation component between adjacent induction units, and its element values are calculated by normalizing the axial geometric distance and the medium transmission coefficient.

[0028] In the embodiment of the present application, first, the electromagnetic radiation waveform is synchronously captured by the three-axis magnetic coupling coil array arranged on the power system circuit board to generate time-domain intensity signals in the X / Y / Z three axes; secondly, the Morlet wavelet transform is performed on each axial signal, and the damped oscillation component in phase with the current mutation described in step 101 is extracted in the frequency band of 140 - 350 MHz (signal-to-noise ratio > 40 dB); then, the peak envelope energy ratio of the oscillation component between adjacent induction units (such as units Y1 and Y2) is calculated to obtain the set of spatial energy attenuation coefficients for each axis; finally, the L2 norm normalization is performed on all axial coefficients to construct the spatial attenuation eigenvector, and the axis corresponding to the maximum value in the vector is selected as the main radiation direction, and the direction of its unit vector points to the propagation direction of the electromagnetic pulse in the sensor area.

[0029] Scenario of the UAV with a 30° forward tilt in Step 101: When the gallium nitride module radiates a 230 MHz main lobe waveform in the X+25° direction, the magnetic coupling coils (spaced 8 mm apart) arranged in the four quadrants of the motor drive board capture the signal simultaneously - the induced intensity of the X-axis coil decays from 12 V / m (unit X1) to 7 V / m (unit X2), the Y-axis from 10 V / m (Y1) to 9.2 V / m (Y2), and the Z-axis from 3 V / m (Z1) to 0.8 V / m (Z2); after separating the 230 MHz oscillation component by wavelet transform, calculate the peak energy decay rate between adjacent units: the decay rate of the X-axis is 0.42 (=(12² - 7²) / 12²), the Y-axis is 0.15, and the Z-axis is 0.93; construct a normalized eigenvector [0.42, 0.15, 0.93] / √(0.42² + 0.15² + 0.93²)=[0.38, 0.14, 0.84], and its maximum value of 0.84 corresponds to the negative Z-axis direction (determined by the data flow direction from unit Z1→Z2). Combining the coordinate system transformation of the UAV's forward tilt attitude, solve the actual propagation direction as the body coordinate X+25° / Z-15°, with a geometric azimuth deviation from the sensor area (gyroscope module) of less than 5°.

[0030] Step 103, according to the electromagnetic pulse direction, modulate the phase of the gate control signal of the gallium nitride power module in real time to obtain a modulated gate control signal.

[0031] In this step, the direction eigenvector refers to the quantization value of the three-dimensional space propagation direction output in Step 102 (in the form of a unit vector), and its elements represent the proportion of the propagation intensity in each axial direction; the phase mapping unit refers to an embedded hardware logic module that stores the correspondence between the propagation direction and the spatial delay of the electromagnetic wave, and outputs a phase compensation instruction through a pre-loaded geometric pose mapping table; the reverse translation operation refers to a time axis reconstruction method that applies a fixed delay to the rising edge of the gate control signal and a fixed advance amount to the falling edge, ensuring that the generated reverse electromagnetic field and the interference pulse achieve phase inversion matching on the propagation path.

[0032] In the embodiment of the present application, first input the direction eigenvector generated in Step 102 into the phase mapping unit, obtain the relative path coefficients of each axial direction and the sensor area through vector element decomposition, and calculate the phase delay amount triggered by the equivalent path difference as the phase compensation value in combination with the propagation speed of the electromagnetic wave in the body medium; secondly, extract the digital waveform sequence of the original gate control signal from the cache of the gallium nitride power module drive chip; then insert delay time slices in segments for the rising edge of the original signal according to the phase compensation value, insert advance time slices in segments for the falling edge, while keeping the non-transition edge segment timing unchanged; finally, splice the reconstructed time slices according to the switching period to generate a phase-modulated gate control signal.

[0033] Continuing with the X+25° / Z-15° propagation direction identified in step 102 (eigenvector [0.38, 0.14, 0.84]): The phase mapping unit calculates the equivalent path difference between the sensor area and the radiation source based on the X-axis component 0.38 and the Z-axis component 0.84 (X-axis projection distance 5 cm × 0.38, Z-axis projection distance 3 cm × 0.84), and combines it with the electromagnetic wave velocity of the epoxy resin substrate ( × m / s) to solve the time delay difference caused by the propagation direction as -1.8 ns (the negative value represents that the signal phase is ahead); at this time, the original gate signal (200 kHz square wave, rise time 15 ns) is extracted, and 1.8 ns delay slices are inserted into its rising edge in segments (extended from 15 ns to 16.8 ns), and 1.8 ns early slices are inserted into its falling edge in segments (shortened from 15 ns to 13.2 ns), and the non-transition edges remain unchanged in segments; after reconstruction, a modulated signal is generated, whose rising edge lags 1.8 ns on the time axis and the falling edge is ahead 1.8 ns, so that the reverse electromagnetic field excited by the subsequent shielding layer can achieve precise phase inversion matching with the 230 MHz interference pulse.

[0034] Step 104: Synchronously apply the modulated gate control signal to the shielding layer of the sensor area of the drone, and generate a reverse cancellation electromagnetic field with the opposite phase to the directional electromagnetic pulse through the conduction path of the sensor area shielding layer.

[0035] In this step, the conduction path refers to the impedance-matched microstrip line extending from the gate driver of the gallium nitride power module to the boundary of the sensor shielding layer, and its characteristic impedance (50Ω±5%) ensures that the nanosecond-level signal transmission has no reflection; the geometric turning structure refers to the acute-angled broken line layout (such as a 45° turning array) designed in the conduction path of the shielding layer, which is used to enhance the charge aggregation effect at the turning corner; the time-varying field coupling refers to the spatial vector superposition of the time-varying electric field and magnetic field induced by the closed-loop current, forming an electromagnetic radiation field pattern that is strictly homologous and opposite to the modulated signal in step 103.

[0036] In the embodiment of the present application, first, the modulated gate control signal is transmitted from the power module end to the signal injection node of the sensor area shielding layer through the microstrip line (ensuring that the signal rise / fall time distortion rate <5%); secondly, the voltage jump of the injection node is used to drive the directional migration of free charges in the conduction path of the shielding layer, forming a charge density gradient at the geometric turning structure; then, based on the charge aggregation effect, a time-varying electric field perpendicular to the conduction path is excited in the normal direction of the turning position (the dV / dt direction is opposite to the modulated signal), and at the same time, a time-varying magnetic field is generated along the circumferential direction of the conduction path; finally, through the vector superposition of the electric field and the magnetic field, a broadband reverse cancellation electromagnetic field that is consistent with the propagation direction of the directional electromagnetic pulse but has a strictly opposite phase is synthesized in space.

[0037] Receive the modulation signal with a rising edge of 16.8 ns and a falling edge of 13.2 ns output in step 103: Transmit it through a 50-Ω ceramic substrate microstrip line to the H-shaped shielding layer (geometric turning angle of 45°) of the gyroscope module. When the rising edge of the modulation signal reaches the injection node (step voltage +6V), it drives the free charges in the copper foil path of the shielding layer to migrate towards the right turning angle, and the surface charge density accumulates at the turning angle within 0.8 ns to reach × C / m², generating a time-varying electric field perpendicular to the downward direction (peak value -28 kV / m); at the same time, the charge migration forms a closed-loop current (peak value 12A), exciting a surrounding magnetic field (peak intensity 0.15 A / m) around the path. At this time, the field strength of the original 230-MHz interference pulse in the sensor area is +12V / m (phase 0°), and the synthetic field generated by the shielding layer is a vector superposition field of -10.8V / m electric field and -0.12A / m magnetic field, with a total field strength of -11.7V / m (phase 180°). After the two are coupled in space, 87% of the interference energy is cancelled (residual <1.5V / m), meeting the tolerance threshold requirements of the flight control unit.

[0038] Step 105, realize mutual cancellation through the spatial coupling of the reverse cancellation electromagnetic field and the directional electromagnetic pulse, and suppress the communication interference to the flight control unit located in the adjacent position of the sensor area.

[0039] In this step, wavefront interference refers to the superposition of the wavefronts with equal amplitudes and a phase difference of 180° formed by the reverse cancellation electromagnetic field and the original directional electromagnetic pulse at the spatial position in the sensor area, resulting in the synthetic field strength approaching zero; the suppression of communication interference specifically refers to the elimination effect of three core faults in the flight control unit, namely, the sampling distortion of the gyroscope analog-to-digital converter, the magnetic declination calculation error of the magnetometer, and the failure of the I²C bus data packet check. The judgment criterion is that the signal-to-noise ratio of the sensor output is restored above the threshold (>55dB).

[0040] In the embodiment of the present application, first, when the reverse cancellation electromagnetic field (phase lag of 180°) and the directional electromagnetic pulse meet at a spatial point in the sensor area, according to the linear superposition principle of the time-varying field in Maxwell's equations, the electric field components and magnetic field components of the two are respectively vectorially synthesized; secondly, since the amplitude of the reverse field is geometrically optimized to be equal to the pulse amplitude but the phase is strictly opposite, resulting in destructive interference of the synthetic electric / magnetic field in the target frequency band (100 - 300 MHz); then, through the spatial energy integration, it is verified that the field strength in the interference area decays below the tolerance threshold of the sensor (typical value <3% of the original intensity); finally, the flight control unit resumes normal communication in a low-noise environment: the quantization distortion of the gyroscope sampling is eliminated, the heading calculation of the magnetometer is restored to an accuracy of ±0.5°, and the bit error rate of the I²C bus is reduced to Below.

[0041] The 11.7 V / m reverse cancellation field (phase 180°) generated in step 104 is coupled with the original 12 V / m directional pulse (phase 0°) on the surface of the gyroscope chip: at the center frequency of 230 MHz, the combined value of the electric field components E_com = |12∠0° + 11.7∠180°| = 0.3 V / m (attenuation 97.5%), and the combined value of the magnetic field components H_com = |0.15∠0° + 0.12∠180°| = 0.03 A / m (attenuation 80%); measured by an omnidirectional near-field probe, the total radiation energy density in the sensor area decreases from 1.58 mW / cm² to 0.037 mW / cm² (meeting the tolerance standard of <0.05 mW / cm²). At this time, the attitude angle fluctuation of the gyroscope when it was originally disturbed is restored from ±3.2° to ±0.4° (the standard deviation of the sampling value decreases from 0.82° to 0.07°); for the magnetometer, the ±12° jump in the heading angle calculation due to electromagnetic bias disappears, and the static test heading drift <0.3° / min; for the I²C bus, the error rate in 400 kHz communication decreases from 17 times per second to zero errors in 72 hours, and the CRC check passing rate is 100%.

[0042] As described in the above 5 steps, in this embodiment, by dynamically adapting to the propagation direction of the electromagnetic pulse induced by the high-frequency switch, a reverse cancellation electromagnetic field with precise phase inversion is generated in real time, effectively eliminating the directional interference of the electromagnetic pulse on the flight control sensors in the high-speed maneuvering scenario of the unmanned aerial vehicle, significantly improving the stability of the flight control system, and at the same time overcoming the weight burden of traditional electromagnetic shielding, realizing interference suppression without hardware damage.

[0043] In order to solve the problem in the prior art that the radiation waveform modeling is inaccurate due to ignoring the interaction between the high-frequency switch action and parasitic parameters, and to improve the directional excitation accuracy of the transient oscillation characteristics of current mutation, in some embodiments, according to step 101, the high-frequency switch characteristics of the gallium nitride power module pre-configured in the power system of the unmanned aerial vehicle are used to trigger the electromagnetic radiation waveform, including: Step 201, through the gate drive unit of the gallium nitride power module, switch the internal current path of the gallium nitride power module at a preset frequency, forcing the current to instantaneously turn on and off between the drain and the source.

[0044] In this step, the gate drive unit refers to a solid-state switch circuit integrating level conversion and transient response, and its output terminal is directly coupled to the gate metal electrode of the gallium nitride chip; the current path switching specifically refers to changing the migration direction of carriers (electrons) at the source-drain semiconductor interface by controlling the on and off states of the two-dimensional electron gas channel, forming a spatial reconstruction of the current path.

[0045] In the embodiment of the present application, first, the PWM signal of the flight controller triggers the gate drive unit to generate a square wave voltage sequence with a preset duty cycle; secondly, the gate bias state of the gallium nitride chip is switched by the jump of the voltage sequence. When the voltage jumps above the threshold, a two-dimensional electron gas layer is formed in the channel, and the current path from the source to the drain is turned on; when the voltage drops below the threshold, the two-dimensional electron gas layer disappears, and the current path is instantaneously truncated; finally, the above process is periodically repeated at the preset switching frequency to achieve high-speed on-off switching of the current between the source and the drain.

[0046] Step 202, at the moment of each current path switching, based on the coupling effect of the parasitic inductance and parasitic capacitance of the gallium nitride power module, a current mutation is generated and a transient electromagnetic oscillation is excited.

[0047] In this step, parasitic inductance coupling refers to the inhibitory effect of the back electromotive force generated by the self-inductance of the bonding wire on the mutated current when the current path is switched; the transient electromagnetic oscillation specifically refers to the decaying sine electromagnetic wave formed by the resonance of the parasitic capacitance and inductance, and its oscillation frequency is determined by the equivalent impedance of the LC network.

[0048] In the embodiment of the present application, first, at the moment when the current path is truncated, the parasitic inductance of the bonding wire hinders the current mutation to generate a high-voltage back electromotive force; secondly, this electromotive force reversely charges the junction capacitance of the power module to form an RLC damped oscillation circuit; then the oscillating current forms eddy currents in the internal copper layer of the module, and the alternating change of the eddy current magnetic field radiates electromagnetic waves into space through the packaging medium; finally, based on the geometric asymmetry of the packaging substrate, the radiation wave forms a transient oscillation waveform with a main lobe directivity.

[0049] Step 203, use the transient electromagnetic oscillation to radiate into the surrounding space through the module packaging structure to generate an electromagnetic radiation waveform with a directional propagation characteristic.

[0050] In this step, the module packaging structure specifically refers to the laminated electromagnetic compatibility packaging body of the gallium nitride power module, which is composed of a copper substrate, a dielectric insulation layer and an electromagnetic shielding housing. Its geometric asymmetric layout (such as the grounding layer window offset) directionally modulates the electromagnetic wave radiation mode; the directional propagation characteristic means that the electromagnetic wave shows the characteristic that the radiation intensity of the main lobe is significantly higher than that of the side lobe in space, and its main axis azimuth is determined by the vector superposition effect of the metal conduction paths in the packaging body.

[0051] In the embodiments of the present application, first, the transient oscillation current excited by step 202 forms an eddy current distribution on the surface of the copper substrate, and the time-varying magnetic field generated by the eddy current penetrates the dielectric insulation layer; secondly, the phase of the electromagnetic wave propagation is non-linearly modulated by the dielectric constant distribution with a gradient change in the insulation layer, so that the radiation waves in different directions produce constructive or destructive interference; finally, under the constraint of the waveguide effect of the electromagnetic shielding housing, the energy is superimposed in a specific direction to form a high-gain main lobe, while in other directions it is suppressed to a low-order side lobe, and finally an electromagnetic radiation waveform with a clear spatial directivity is output.

[0052] In order to solve the problem in the prior art that there is no mechanism for quantifying the spatial attenuation characteristics and the pulse propagation direction cannot be located, and to improve the reliability of direction recognition based on the multi-axis intensity distribution, in some embodiments, according to step 102, based on the electromagnetic radiation waveform generated by the high-frequency switch action, identifying the direction of the electromagnetic pulse propagating from the power system to the sensor area includes: Step 301, capturing the intensity distribution signals of the electromagnetic radiation waveform in different axial directions in space through a multi-axis radiation induction unit on the power system circuit board of the unmanned aerial vehicle.

[0053] In this step, the multi-axis radiation induction unit refers to a micro magnetic field coupling sensor array arranged in the orthogonal coordinate system (X / Y / Z axes) of the power system circuit board, and its spatial sensitivity pattern covers omnidirectional reception; the intensity distribution signal specifically refers to the original waveform data of the time-varying electromagnetic field intensity captured by the sensor in three-dimensional space, including the main lobe radiation energy and its azimuth characteristics.

[0054] In the embodiments of the present application, first, a three-axis orthogonal micro magnetic coupling coil array is arranged around the gallium nitride power module, and the normal line of each coil plane points to a specific axial direction; secondly, when the directional electromagnetic pulse generated by step 203 propagates to the coil array, according to Faraday's law of electromagnetic induction, each coil generates an induced electromotive force proportional to the rate of change of the magnetic field intensity; then, the induced electromotive force is converted into a voltage waveform signal through a current-voltage conversion circuit, and the time-domain voltage sequences in the X / Y / Z three axial directions are synchronously recorded; finally, impedance matching and low-noise amplification are performed on the signals in each axial direction, and three groups of waveform data corresponding to the spatial radiation intensity in real time are output.

[0055] Step 302, extracting the waveform features of the intensity distribution signal in each axial direction, and separating out the transient oscillation component directly associated with the current mutation.

[0056] In this step, the transient oscillation component specifically refers to a nanosecond-level damped oscillation waveform excited by the current mutation (step 201) of the gallium nitride power module, and its time-domain characteristics are manifested as a sinusoidal envelope with an exponentially decaying amplitude; feature extraction refers to stripping the high-frequency oscillation sub-wave strictly synchronized with the switch action from the composite signal through a time-frequency joint analysis method.

[0057] In the embodiments of the present application, first, window synchronization processing is performed on the intensity distribution signals in each axial direction, and signal segments are intercepted with the switching transition edge of the gate drive unit as the time reference; secondly, complex Morlet wavelet transform is used to perform time-frequency decomposition on the intercepted segments, and a scale-energy distribution diagram is calculated within the frequency band range of 150 - 350 MHz; then, the oscillation frequency points strictly synchronized with the current mutation moment are located through energy peak detection, and the time-scale slice corresponding to this frequency point is extracted; finally, the inverse wavelet transform is performed on the slice to reconstruct the time-domain signal, generating a pure transient oscillation component sequence.

[0058] Step 303, calculate the amplitude attenuation rate of the transient oscillation component between adjacent radiation induction units, and generate a spatial attenuation feature vector.

[0059] In this step, the amplitude attenuation rate refers to the natural logarithm attenuation coefficient of the ratio of the peak energies of the transient oscillation components captured by adjacent induction units in the same axial direction, and is used to quantify the propagation loss of electromagnetic waves in a specific axial direction; the spatial attenuation feature vector is a normalized mathematical vector of the attenuation rates in three orthogonal directions, and the physical meaning of its elements represents the comprehensive effect of the medium absorption and diffraction loss of each axial propagation path.

[0060] In the embodiments of the present application, first, two groups of adjacent induction units in each axial direction (such as X1 and X2, Y1 and Y2, Z1 and Z2) are selected, and the peak energies of the time-domain envelopes of their transient oscillation components are extracted respectively; secondly, the energy ratio of adjacent units (near-field unit energy / far-field unit energy) is calculated, and the natural logarithm of this ratio is taken to obtain the axial attenuation rate; then, L2 norm normalization processing is performed on all axial attenuation rates (to eliminate the difference in hardware sensitivity); finally, the normalized attenuation rates of the three axes are constructed into a spatial attenuation feature vector in the order of [X, Y, Z], and the value range of its elements is mapped to the interval [0, 1].

[0061] Step 304, determine the electromagnetic pulse direction according to the axial direction corresponding to the maximum attenuation rate in the spatial attenuation feature vector.

[0062] In this step, the axial direction of the maximum attenuation rate is the coordinate axis corresponding to the numerically largest element in the spatial feature vector, reflecting that the energy attenuation is most significant when the electromagnetic wave propagates in this axial direction; the direction determination mechanism is based on the exponential attenuation law of the propagation energy of electromagnetic waves in the medium, and the direction of the maximum attenuation rate is the main direction of wave propagation.

[0063] In the embodiments of the present application, first, a sorting operation is performed on the three elements of the spatial attenuation eigenvector to determine the maximum value and its corresponding axis; secondly, according to the layout orientation of the sensing units (for example, the negative direction of the Z-axis points from Z1 to Z2 towards the sensor area), the propagation direction vector is generated by combining this axis with the unit position relationship; finally, through coordinate system transformation (body coordinate system → sensor coordinate system), the electromagnetic pulse direction is determined and the three-dimensional space vector angle (azimuth angle θ, elevation angle φ) of the electromagnetic pulse pointing to the sensor area is output.

[0064] In order to solve the problem of the mismatch between the phase of the reverse cancellation signal and the pulse propagation path delay in the prior art, and to improve the accuracy of realizing the precise phase inversion of the reverse field through the timing modulation of the gate signal, in some embodiments, according to what is described in step 103, based on the electromagnetic pulse direction, the phase of the gate control signal of the gallium nitride power module is modulated in real time to obtain the modulated gate control signal, including: Step 401, input the direction eigenvector corresponding to the electromagnetic pulse direction into the pre-deployed phase mapping unit, and output the phase compensation value through the preset proportional relationship.

[0065] In this step, the phase mapping unit refers to an embedded hardware logic module that stores the conversion relationship between the spatial propagation path difference of electromagnetic waves and the time delay, and realizes the non-linear mapping from the direction feature to the phase offset through a look-up table.

[0066] In the embodiments of the present application, first, the direction eigenvector output in step 304 is input into the phase mapping unit in the order of [X, Y, Z]; secondly, the component values of each axis are extracted through the vector decomposition module, and the equivalent path difference is calculated by combining the geometric distance projection of this axis and the sensor area; then, according to the equivalent propagation speed of electromagnetic waves in the body medium (epoxy resin substrate, air layer), the path difference is converted into a time delay amount; finally, through the preset delay amount-phase compensation look-up table, the corresponding gate signal timing adjustment value is output as the phase compensation value.

[0067] Step 402, obtain the original gate control signal of the gallium nitride power module.

[0068] In this step, the original gate control signal refers to the initial switch drive waveform without phase modulation, which is generated by the PWM module of the flight controller and temporarily stored in the input buffer area of the drive chip, and its voltage jump timing is strictly synchronized with the flight control command.

[0069] In the embodiment of the present application, first, access the input signal buffer register of the gate driver chip (such as TI LM5113) through its SPI interface; secondly, read the digital level sequence within the current switching cycle, including the accurate timestamps of the rising edge, falling edge and steady-state holding segment; then reconstruct the digital sequence into an analog waveform timing model according to the system clock resolution; finally, output the model as a digital copy of the original gate control signal.

[0070] Step 403: Perform a reverse translation operation on the rising edge and falling edge timings of the original gate control signal based on the phase compensation value to obtain a timed signal after the translation operation.

[0071] In this step, the reverse translation operation specifically refers to performing an asymmetric timing adjustment on the key transition edges of the gate control signal: applying a fixed delay amount (positive time offset) to the rising edge and an equal fixed advance amount (negative time offset) to the falling edge; the timed signal refers to dividing the original continuous waveform into a discretized time axis sequence including a rising segment, a falling segment and a steady-state segment according to the switching cycle, and forming a digital waveform model with reset timestamps after translation and reconstruction.

[0072] In the embodiment of the present application, first, cut the original gate control signal (output of step 402) through a timestamp parsing engine and split it into independent timing segments: including a rising edge segment starting from a rising transition edge, a falling edge segment starting from a falling transition edge, and a non-transition edge segment with steady-state holding; secondly, insert a fixed delay amount into the rising edge segment according to the phase compensation value in step 401 to generate a lagged time axis; at the same time, insert a fixed advance amount with the same value but opposite direction into the falling edge segment to generate a leading time axis; then keep the original time coordinates of the non-transition edge segment unchanged; finally, splice all the segments in the original order of the switching cycle to form a continuous time axis reconstruction signal.

[0073] Step 404: Output the timed signal after the translation operation as a modulated gate control signal.

[0074] In this step, the modulated gate control signal refers to a digital waveform model that has completed timing reconstruction and is output as a physical voltage signal through a digital-to-analog converter. Its time axis accuracy matches the switching response resolution of the driver chip and is used to directly drive the gate terminal of the gallium nitride power module.

[0075] In the embodiments of the present application, first, the reorganized discrete timing signal in step 403 is input into a programmable delay line chip (such as DS1023), and the digital timestamp sequence is converted into an equivalent voltage jump timing instruction through its precision clock management unit; second, the voltage conversion unit of the driver chip (such as LM5113) converts the timing instruction into a gate drive voltage waveform with a corresponding amplitude; then, the slew rate of the output waveform is detected to ensure that the physical implementation of the translation operation is distortion-free (edge jitter <0.5%); finally, the qualified signal is sent to the gate of the gallium nitride power module through a low-impedance transmission line.

[0076] To solve the problem of increased phase compensation deviation caused by the lack of association between spatial orientation and circuit parameters in the prior art, and to improve the mapping accuracy of the current path offset based on geometric pose, in some embodiments, according to step 401, the direction feature vector corresponding to the electromagnetic pulse direction is input into a pre-deployed phase mapping unit, and a phase compensation value is output through a preset proportional relationship, including: Step 501: Extract spatial vector elements from the input direction feature vector to obtain scalar elements representing the attenuation degree of each propagation axis.

[0077] In this step, the extraction of spatial vector elements refers to the process of independently decoupling each component (X / Y / Z) of the three-dimensional direction feature vector into scalar parameters; the scalar element specifically refers to the pure numerical value after eliminating the vector directionality, and its physical meaning represents the logarithmic measure of the electromagnetic wave energy attenuation amplitude corresponding to the axial direction, which is used to quantify the propagation loss intensity of this axis.

[0078] In the embodiments of the present application, first, the direction feature vector (three-dimensional mathematical vector) input in step 304 is received; second, the independent component values of the three orthogonal axes X, Y, and Z are separated through a vector decomposition module; then, the absolute value of each component value is taken to eliminate the influence of the direction symbol; finally, three groups of non-negative scalar data are output, and each scalar element corresponds to the quantization value of the electromagnetic wave energy attenuation intensity of a specific axis, forming the input basis for subsequent geometric relationship calculations.

[0079] Step 502: Generate the current path offset corresponding to the scalar element according to the geometric orientation relationship between each propagation axis and the target sensor area.

[0080] In this step, the geometric orientation relationship refers to the cosine value of the projection angle of the connection vector between the radiation source and the sensor area on each axis; the current path offset describes the degree of asymmetric offset of the carrier migration path inside the gallium nitride module due to spatial orientation differences, and physical correction is achieved through gate signal phase compensation.

[0081] In the embodiment of the present application, first, a three-dimensional space vector of the sensor area relative to the radiation source is calculated according to the real-time attitude data (pitch / roll angle) of the unmanned aerial vehicle; secondly, the direction cosine values of the vector with each coordinate axis (X / Y / Z) are solved; then, a weighted dot product operation is performed on the direction cosine values and the scalar elements in step 501 to obtain a compensation coefficient reflecting the spatial path effect; finally, through a preset electromagnetic-circuit coupling model, the compensation coefficient is converted into an electrical bias of the carrier migration path of the gallium nitride module.

[0082] Step 503: Input the current path bias into the look-up table unit built in the phase mapping unit, and output a phase compensation value through a preset proportional relationship.

[0083] In this step, the look-up table unit refers to a non-volatile memory matrix solidified in the phase mapping chip, whose row address corresponds to the current path bias range, and the column address stores the compensation coefficient slope value; the preset proportional relationship describes the non-linear mapping rule between the current bias and the gate signal phase compensation amount, and is established based on the curve fitting of the carrier mobility-electric field intensity curve of the gallium nitride module to ensure that the spatial path difference is converted into accurate timing adjustment.

[0084] In the embodiment of the present application, first, the current path bias output in step 502 is input into the address decoder of the look-up table unit, and the target storage range is determined through range segmentation matching; secondly, the proportional coefficients (including the main coefficient K and the secondary correction term ΔK) stored in this range are read; then, the bias is substituted into the compensation formula (phase compensation value = K×bias + ΔK) to calculate the original compensation value; finally, boundary constraint processing (limited within ±20% of the switching period) is performed to output the phase compensation value that can be directly used for the timing modulation of the gate signal.

[0085] In order to solve the problem that the overall translation of the gate signal in the prior art exacerbates electromagnetic interference due to the distortion of the switching waveform, and to improve the phase stability of independently regulating the rising / falling edge timing in different time periods, in some embodiments, according to step 403, based on the phase compensation value, a reverse translation operation is performed on the rising edge and falling edge timing of the original gate control signal to obtain a timed signal after the translation operation, including: Step 601: Cut through the level transition edge of the original gate control signal to generate independent timing segments synchronized with the switching period, where the independent timing segments include a rising edge segment of the rising transition edge, a falling edge segment of the falling transition edge, and a non-transition edge segment composed of the signal steady state holding period.

[0086] In this step, the level transition edge refers to the voltage jump region where the gate control signal changes from low level to high level (rising edge) or from high level to low level (falling edge), and its timing width covers the entire process of signal voltage change; independent timing segmentation refers to the discrete time intervals formed by dividing the original continuous signal according to the transition moments, and each interval contains a single event feature (transition or steady state) for independent timing regulation.

[0087] In the embodiment of the present application, first, identify the voltage jump timestamps (starting points of rising edges and starting points of falling edges) of the original gate control signal; second, expand a fixed time window forward and backward centered on the jump points (covering the complete transition process) to cut out the rising edge segments and the falling edge segments; then, extract the steady state holding intervals of the high and low levels of the signal as non-transition edge segments; finally, add a unique timing label to each segment and store them in the order of the switching period to form a discretized timing group that can be independently operated.

[0088] Step 602, insert a fixed delay amount into the rising edge segments according to the phase compensation value to generate a lag time axis.

[0089] In this step, the fixed delay amount is a positive time offset set according to the phase compensation value, and its physical meaning is to lag the current mutation moment on the time axis; the lag time axis refers to a new timing coordinate system formed by uniformly increasing the delay amount for all timestamps within the rising edge segments, and this operation only changes the rising edge phase without affecting the integrity of the signal period.

[0090] In the embodiment of the present application, first, read the phase compensation value output in step 503 (a negative value represents a delay operation); second, extract the entire timestamp sequence of the rising edge segments; then, add the delay amount (delay amount = |phase compensation value|) to all timestamps to generate a new set of timestamps with delayed time; finally, reconstruct the start and end time intervals of the segments according to the new timestamps to form the rising edge segment data block of the lag time axis.

[0091] Step 603, insert a reverse fixed advance amount into the falling edge segments according to the phase compensation value to generate a lead time axis; splice the non-transition edge segments, the lag time axis, and the lead time axis in the original switching period order to generate a time-shifted timing signal.

[0092] In this step, the reverse fixed advance amount refers to a time offset operation with the same numerical value as the delay amount but in the opposite direction (negative time translation), and its physical meaning is to trigger the current turn-off moment in advance; the lead time axis refers to a new coordinate system formed by uniformly reducing the timing values for all timestamps within the falling edge segments, and its function is to independently modulate the falling edge phase; the splicing of the timing signals refers to recombining the independently regulated time axis segments into a continuous waveform according to the original signal period logic to ensure that the overall period and duty cycle remain strictly unchanged.

[0093] In the embodiments of the present application, first, a uniform subtraction operation is performed on all timestamps within the falling edge segment (advance amount = delay amount value) to generate a falling edge segment data block on the advanced time axis; second, the original timestamps of the non-transition edge segments (high / low electrical steady state segments) are maintained unchanged; then, in the strict order of the original signal period: the rising edge segment of the lagging time axis → the high electrical steady state segment → the falling edge segment of the advanced time axis → the low electrical steady state segment, a timestamp continuity check is performed; finally, the time step at the segment boundary is eliminated through a timing interpolation engine, and a continuous gate control timing signal after phase modulation is output.

[0094] To solve the problem in the prior art that the electromagnetic field generation mechanism of the shielding layer is single and cannot match the spatial coupling requirements, and to improve the enhancement of the spatial energy density of the reverse field through the collaborative superposition of time-varying electric and magnetic fields, in some embodiments, as described in step 104, the modulated gate control signal is synchronously applied to the shielding layer of the sensor area of the drone, and a reverse cancellation electromagnetic field opposite in phase to the directional electromagnetic pulse is generated through the conductive path of the sensor area shielding layer, including: Step 701, the modulated gate control signal is transmitted to the signal injection node at the boundary of the sensor area shielding layer through the conduction path extending from the sensor area shielding layer to the power system.

[0095] In this step, the signal injection node refers to a coplanar waveguide coupling structure preset at the boundary of the shielding layer conductive path, and signal reflection-free access from the transmission line to the shielding layer copper foil is achieved through wire bonding.

[0096] In the embodiments of the present application, first, the modulated gate control signal output in step 404 is connected to the input end of the conduction path; second, high-frequency signal resonance is suppressed through the microstrip line width gradual change design (50Ω → 70Ω → 50Ω); then, an electromagnetic waveguide matching medium is filled at the connector interface to eliminate impedance mutation; finally, the signal is transmitted to the coplanar waveguide structure at the shielding layer boundary, and the voltage waveform is coupled to the shielding layer copper foil through a gold wire array bonding to form an electrical excitation input of the signal injection node.

[0097] Step 702, based on the impedance continuity of the conduction path, the voltage signal of the signal injection node drives the directional migration of free charges in the conductive path of the sensor area shielding layer to generate a closed-loop time-varying current.

[0098] In this step, impedance continuity means that the fluctuation impedance change rate of the entire path from the signal injection node to the shielding layer copper foil ≤ 5% / mm, ensuring that the charge migration has no phase distortion; the directional migration of free charges describes the drift motion of the non-equilibrium carrier (electron) population formed by the voltage jump of the modulation signal in the copper foil conductive path, and its migration direction is determined by the electric field intensity vector.

[0099] In the embodiment of the present application, first, a voltage jump (such as +6V → -3V) is formed at the signal injection node to establish an instantaneous electric field gradient on the surface of the shielding layer copper foil; second, the electric field acts on the free electron population in the conduction path, forcing it to drift directionally along the low-impedance path; then, through the geometric closed-loop design of the H-shaped conduction path (the turning angle is 45°), charges accumulate at the turning point to form a local high-density area; finally, the overall charge migration constitutes a time-varying current loop surrounding the contour of the shielding layer, and the current intensity is linearly proportional to the voltage change rate (dV / dt).

[0100] Step 703: According to the geometric turning structure of the conduction path, free charges are aggregated at the turning position of the conduction path to generate a time-varying electric field perpendicular to the plane of the geometric turning structure.

[0101] In this step, the time-varying electric field specifically refers to the change of the electric field strength vector with time caused by the non-uniform aggregation of charges. Its direction is perpendicular to the turning plane and is jointly determined by the charge density gradient and the dielectric constant of the medium.

[0102] In the embodiment of the present application, first, when the closed-loop current flows through the turning angle of the conduction path (such as a 45° acute angle), the free charges are affected by the superposition of the centrifugal effect and the electric field force vector, and a local high-density aggregation area is formed inside the turning angle; second, based on Gauss's law, the charge density gradient forms an asymmetric potential distribution in the normal direction of the turning plane; then, according to the medium boundary condition (copper foil - epoxy resin interface), the electric field excited by the aggregated charges is constrained to be a unidirectional time-varying field perpendicular to the turning plane; finally, the electric field strength oscillates synchronously with the voltage jump of the modulation signal to form a vertical electric field component that is out of phase with the original electromagnetic pulse.

[0103] Step 704: Based on the flowing direction of the closed-loop time-varying current, a time-varying magnetic field surrounding the current direction is generated in the space around the conduction path.

[0104] Step 705: Couple the time-varying electric field perpendicular to the plane and the time-varying magnetic field surrounding the current direction into a target reverse-canceling electromagnetic field.

[0105] In this step, the direction of the surrounding current refers to the closed loop of the magnetic field vector determined according to the right-hand rule, and its magnetic field lines are always perpendicular to the current flow direction; the time-varying magnetic field describes the oscillation of the magnetic field strength induced by the change of the current intensity with time, and its phase lags behind the current by 90°, and the spatial distribution conforms to the Biot-Savart law.

[0106] In the embodiment of the present application, first, according to the real-time flowing direction of the closed-loop current in the conduction path (such as the clockwise flow of the H-shaped path), the magnetic field strength at a spatial point is calculated by integrating according to the Biot-Savart law; second, combined with the time-varying characteristics of the current (I(t)= ), deduce the oscillation function of the magnetic field strength decaying with time; then, according to Maxwell's equations, the time-varying magnetic field forms a vector component orthogonal to the electric field at the spatial points in the sensor area; finally, through field distribution optimization, the magnetic field direction is made to match the anti-phase oscillation requirement of the interference pulse magnetic field.

[0107] Figure 2 FIG. is a schematic structural diagram of a directional electromagnetic pulse suppression system based on a gallium nitride power module provided by an embodiment of the present application. As Figure 2 shown, the system includes: A trigger module 21, configured to trigger an electromagnetic radiation waveform by using the high-frequency switching characteristic of a gallium nitride power module pre-configured in the power system of the unmanned aerial vehicle; An identification module 22, configured to identify the direction of an electromagnetic pulse propagating from the power system to the sensor area based on the electromagnetic radiation waveform generated by the high-frequency switching operation; A modulation module 23, configured to modulate the phase of the gate control signal of the gallium nitride power module in real time according to the direction of the electromagnetic pulse to obtain a modulated gate control signal; A generation module 24, configured to synchronously apply the modulated gate control signal to the shielding layer of the sensor area of the unmanned aerial vehicle, and generate a reverse cancellation electromagnetic field with a phase opposite to that of the directional electromagnetic pulse through the conduction path of the sensor area shielding layer; A suppression module 25, which realizes mutual cancellation through the coupling of the reverse cancellation electromagnetic field and the directional electromagnetic pulse in space, and suppresses the communication interference to the flight control unit located in the vicinity of the sensor area.

[0108] Figure 2 The described directional electromagnetic pulse suppression system based on a gallium nitride power module can execute Figure 1 the directional electromagnetic pulse suppression method described in the embodiment shown in FIG., and its implementation principle and technical effects will not be elaborated. For the directional electromagnetic pulse suppression system based on a gallium nitride power module in the above embodiment, the specific manners in which each module and unit perform operations have been described in detail in the embodiment related to the method, and will not be elaborated here.

[0109] In a possible design, Figure 2 the directional electromagnetic pulse suppression system based on a gallium nitride power module in the embodiment shown in FIG. can be implemented as a computing device. As Figure 3 shown, the computing device may include a storage component 31 and a processing component 32; The storage component 31 stores one or more computer instructions, and among them, the one or more computer instructions are called and executed by the processing component 32.

[0110] The processing component 32 is used for the aboveFigure 1 A method for suppressing directed electromagnetic pulses based on a gallium nitride power module according to the embodiment.

[0111] Among them, the processing component 32 may include one or more processors to execute computer instructions to complete all or part of the steps in the above method. Of course, the processing component may also be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors or other electronic components for executing the above method.

[0112] The storage component 31 is configured to store various types of data to support the operation of the terminal. The storage component can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0113] Of course, the computing device may also necessarily include other components, such as input / output interfaces, display components, communication components, etc.

[0114] The input / output interface provides an interface between the processing component and the peripheral interface module, and the above peripheral interface module may be an output device, an input device, etc.

[0115] The communication component is configured to facilitate communication between the computing device and other devices in a wired or wireless manner, etc.

[0116] Among them, the computing device may be a physical device or an elastic computing host provided by a cloud computing platform, etc. At this time, the computing device may refer to a cloud server, and the above processing component, storage component, etc. may be basic server resources leased or purchased from a cloud computing platform.

[0117] The embodiment of the present application also provides a computer storage medium storing a computer program, and when the computer program is executed by a computer, it can implement the above Figure 1 A method for suppressing directed electromagnetic pulses based on a gallium nitride power module according to the embodiment shown.

[0118] Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the above-described systems, devices, and units can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated herein.

[0119] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. A person of ordinary skill in the art can understand and implement it without creative labor.

[0120] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the essence of the above technical solution, or the part that contributes to the prior art, can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0121] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application and are not intended to limit them. Although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for suppressing directional electromagnetic pulses based on a gallium nitride power module, characterized in that, Comprising: Triggering an electromagnetic radiation waveform by utilizing the high-frequency switching characteristics of a gallium nitride power module pre-configured in the power system of an unmanned aerial vehicle; Identifying the direction of an electromagnetic pulse propagating from the power system to a sensor area based on the electromagnetic radiation waveform generated by the high-frequency switching operation; According to the direction of the electromagnetic pulse, modulating the phase of the gate control signal of the gallium nitride power module in real time to obtain a modulated gate control signal; Synchronously applying the modulated gate control signal to the shielding layer of the sensor area of the unmanned aerial vehicle, and generating a reverse cancellation electromagnetic field with a phase opposite to that of the directional electromagnetic pulse through the conduction path of the sensor area shielding layer; Realizing mutual cancellation through the spatial coupling of the reverse cancellation electromagnetic field and the directional electromagnetic pulse, and suppressing the communication interference to the flight control unit located in the vicinity of the sensor area.

2. The method according to claim 1, characterized in that Triggering an electromagnetic radiation waveform by utilizing the high-frequency switching characteristics of a gallium nitride power module pre-configured in the power system of an unmanned aerial vehicle, including: Through the gate drive unit of the gallium nitride power module, switching the internal current path of the gallium nitride power module at a preset frequency, forcing the current to instantaneously turn on and off between the drain and the source; At the moment of each current path switching, based on the coupling effect of the parasitic inductance and parasitic capacitance of the gallium nitride power module, generating a current mutation and exciting a transient electromagnetic oscillation; Utilizing the transient electromagnetic oscillation to radiate into the surrounding space through the module packaging structure, and generating an electromagnetic radiation waveform with directional propagation characteristics.

3. The method according to claim 1, wherein Identifying the direction of an electromagnetic pulse propagating from the power system to a sensor area based on the electromagnetic radiation waveform generated by the high-frequency switching operation, including: Capturing the intensity distribution signals of the electromagnetic radiation waveform in different axial directions in space through a multi-axis radiation induction unit on the power system circuit board of the unmanned aerial vehicle; Performing waveform feature extraction on the intensity distribution signals in each axial direction, and separating out the transient oscillation components directly associated with the current mutation; Calculating the amplitude attenuation rate of the transient oscillation components between adjacent radiation induction units, and generating a spatial attenuation feature vector; Determining the direction of the electromagnetic pulse according to the axial direction corresponding to the maximum attenuation rate in the spatial attenuation feature vector.

4. The method according to claim 1, characterized in that According to the direction of the electromagnetic pulse, modulating the phase of the gate control signal of the gallium nitride power module in real time to obtain a modulated gate control signal, including: Inputting the direction feature vector corresponding to the electromagnetic pulse direction into a pre-deployed phase mapping unit, and outputting a phase compensation value through a preset proportional relationship; Obtaining the original gate control signal of the gallium nitride power module; Based on the phase compensation value, performing a reverse translation operation on the rising edge and falling edge timings of the original gate control signal to obtain a translated timing signal; Outputting the translated timing signal as the modulated gate control signal.

5. The method according to claim 4, characterized in that, Inputting the direction feature vector corresponding to the electromagnetic pulse direction into a pre-deployed phase mapping unit, and outputting a phase compensation value through a preset proportional relationship, including: Performing spatial vector element extraction on the input direction feature vector to obtain scalar elements characterizing the attenuation degree of each propagation axial direction; Generating a current path offset corresponding to the scalar element according to the geometric azimuth relationship between each propagation axial direction and the target sensor area; Input the current path offset amount into the lookup table unit built in the phase mapping unit, and output the phase compensation value through a preset proportional relationship.

6. The method according to claim 4, characterized in that, Based on the phase compensation value, perform a reverse translation operation on the rising edge and falling edge timings of the original gate control signal to obtain the translated timing signal, including: Generate independent timing segments synchronized with the switching period through the level transition edges of the original gate control signal, where the independent timing segments include rising edge segments of the rising transition edges, falling edge segments of the falling transition edges, and non-transition edge segments composed of the signal steady-state holding period; Insert a fixed delay amount into the rising edge segments according to the phase compensation value to generate a lag time axis; Insert a reverse fixed advance amount into the falling edge segments according to the phase compensation value to generate a lead time axis; splice the non-transition edge segments, the lag time axis, and the lead time axis in the order of the original switching period to generate the translated timing signal.

7. The method according to claim 1, characterized in that Synchronously apply the modulated gate control signal to the sensor area shielding layer of the UAV, and generate a reverse cancellation electromagnetic field opposite to the phase of the directional electromagnetic pulse through the conduction path of the sensor area shielding layer, including: Transmit the modulated gate control signal to the signal injection node at the boundary of the sensor area shielding layer through the conduction path extending from the sensor area shielding layer to the power system; Based on the impedance continuity of the conduction path, drive the free charges in the conduction path of the sensor area shielding layer to migrate directionally by the voltage signal of the signal injection node to generate a closed-loop time-varying current; Accumulate free charges at the turning positions of the conduction path according to the geometric turning structure of the conduction path to generate a time-varying electric field perpendicular to the plane of the geometric turning structure; Based on the flowing direction of the closed-loop time-varying current, generate a time-varying magnetic field around the current direction in the space surrounding the conduction path; Couple the time-varying electric field perpendicular to the plane with the time-varying magnetic field around the current direction into the target reverse cancellation electromagnetic field.

8. A directional electromagnetic pulse suppression system based on a gallium nitride power module, characterized in that, Including: A trigger module for triggering the electromagnetic radiation waveform by using the high-frequency switching characteristics of the gallium nitride power module pre-configured in the power system of the UAV; An identification module for identifying the direction of the electromagnetic pulse propagating from the power system to the sensor area based on the electromagnetic radiation waveform generated by the high-frequency switching action; A modulation module for modulating the phase of the gate control signal of the gallium nitride power module in real time according to the direction of the electromagnetic pulse to obtain the modulated gate control signal; A generation module for synchronously applying the modulated gate control signal to the sensor area shielding layer of the UAV, and generating a reverse cancellation electromagnetic field opposite to the phase of the directional electromagnetic pulse through the conduction path of the sensor area shielding layer; A suppression module for suppressing the communication interference to the flight control unit located in the vicinity of the sensor area by canceling each other through the coupling of the reverse cancellation electromagnetic field and the directional electromagnetic pulse in space.

9. A computing device, characterized in that, It includes a processing component and a storage component; the storage component stores one or more computer instructions; the one or more computer instructions are used to be called and executed by the processing component to implement a method for suppressing directed electromagnetic pulses based on a gallium nitride power module as described in any one of claims 1 to 7.

10. A computer storage medium, characterized in that, A computer program is stored, and when the computer program is executed by a computer, it implements a method for suppressing directed electromagnetic pulses based on a gallium nitride power module as described in any one of claims 1 to 7.

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