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

Abstract

The present application provides a method and system for suppressing directional electromagnetic pulses based on gallium nitride power modules. The method first triggers an electromagnetic radiation waveform and identifies the direction of an electromagnetic pulse propagating from the power system to the sensor area. The method then modulates the phase of the gate control signal of the gallium nitride power module in real time based on the direction of the electromagnetic pulse. The modulated gate control signal is then applied to the shielding layer of the sensor area of ​​the drone, generating a reverse-cancelling electromagnetic field with a phase opposite to that of the directional electromagnetic pulse. Finally, the reverse-cancelling electromagnetic field and the directional electromagnetic pulse are spatially coupled to achieve mutual cancellation, thereby suppressing communication interference with flight control units located near the sensor area. The technical solution provided by the present application not only achieves efficient neutralization of electromagnetic interference and significantly reduces the interference intensity of electromagnetic pulses on flight control units (such as gyroscopes, magnetometers, and communication buses), but also achieves precise cancellation of electromagnetic field energy without requiring additional electromagnetic shielding weight.

Description

Technical Field

[0001] The present application relates to the field of UAV technology, and in particular to a directional electromagnetic pulse suppression method and system based on a gallium nitride power module. Background Art

[0002] Gallium nitride (GaN) power modules are widely used in lightweight drones to drive motor systems. Their high-frequency switching (MHz-level) operation generates high-intensity transient electromagnetic radiation. This electromagnetic energy exhibits significant directional propagation in space, generating directional electromagnetic pulses. These can severely interfere with nearby flight control sensors (such as gyroscopes and magnetometers) and communication buses (such as I²C and CAN) located within a distance of typically less than 5 cm, leading to attitude error or even loss of control.

[0003] The current mainstream solution uses AI-based dynamic frequency tuning electromagnetic shielding technology. The core process of this solution is to use a current sensor deployed at the power module end to collect the switching current waveform in real time, and use an embedded AI chip to predict the spectral energy distribution characteristics of the radiation. It then generates a corresponding inverted signal and outputs it near the sensor area through a reconfigurable electromagnetic shielding layer, attempting to physically neutralize the original electromagnetic pulse energy.

[0004] A key flaw of this technology is that it completely fails to consider the directional propagation characteristics of electromagnetic pulses in three-dimensional space. Pulse intensity exhibits nonlinear attenuation with propagation direction (strongly correlated with factors such as the radiation source's orientation and obstruction by obstacles), and the generation of the anti-phase signal relies solely on spectral data, without incorporating spatial directional information. When drone maneuvers cause a spatial deviation between the pulse propagation direction and the shielding layer's force direction (typical deviation angle >±30°), the actual interference suppression efficiency plummets, failing to meet safety requirements in complex flight environments. Summary of the Invention

[0005] The present application provides a directional electromagnetic pulse suppression method and system based on a gallium nitride power module, which is used to solve the problem in the prior art of low efficiency in reverse cancellation of electromagnetic field energy due to the inability to dynamically adapt the propagation direction of the electromagnetic pulse in three-dimensional space.

[0006] In a first aspect, the present application provides a method for directional electromagnetic pulse suppression based on a gallium nitride power module, comprising:

[0007] The electromagnetic radiation waveform is triggered by the high-frequency switching characteristics of the gallium nitride power module pre-configured in the UAV's power system;

[0008] identifying a direction of an electromagnetic pulse propagating from the power system to a sensor region based on an electromagnetic radiation waveform generated by the high-frequency switching action;

[0009] 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 a modulated gate control signal;

[0010] Synchronously applying the modulated gate control signal to the sensor area shield layer of the drone, generating a reverse canceling electromagnetic field with a phase opposite to that of the directional electromagnetic pulse through the conductive path of the sensor area shield layer;

[0011] The reverse-cancelling electromagnetic field and the directional electromagnetic pulse are spatially coupled to achieve mutual cancellation, thereby suppressing communication interference to the flight control unit located near the sensor area.

[0012] Optionally, the electromagnetic radiation waveform is triggered by utilizing the high-frequency switching characteristics of the gallium nitride power module pre-configured in the power system of the drone, including:

[0013] By means of the gate drive unit of the gallium nitride power module, the internal current path of the gallium nitride power module is switched at a preset frequency, forcing the current to be instantaneously switched on and off between the drain and the source;

[0014] At the moment of each current path switching, a current mutation is generated and a transient electromagnetic oscillation is excited based on the coupling effect of the parasitic inductance and parasitic capacitance of the gallium nitride power module;

[0015] The transient electromagnetic oscillation is radiated to the surrounding space through the module packaging structure to generate an electromagnetic radiation waveform with directional propagation characteristics.

[0016] Optionally, identifying a direction of an electromagnetic pulse propagating from the power system to a sensor area based on an electromagnetic radiation waveform generated by the high-frequency switching action includes:

[0017] Capturing the intensity distribution signals of the electromagnetic radiation waveform in different spatial axes through a multi-axis radiation sensing unit on a power system circuit board of the UAV;

[0018] The waveform features of the intensity distribution signal in each axis are extracted to separate the transient oscillation component directly related to the current mutation.

[0019] Calculating the amplitude attenuation rate of the transient oscillation component between adjacent radiation sensing units to generate a spatial attenuation eigenvector;

[0020] The direction of the electromagnetic pulse is determined according to the axial direction corresponding to the maximum attenuation rate in the spatial attenuation characteristic vector.

[0021] Optionally, 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 includes:

[0022] The directional characteristic 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;

[0023] Obtaining an original gate control signal of the gallium nitride power module;

[0024] Performing a reverse shift operation on the rising edge and falling edge timing of the original gate control signal based on the phase compensation value to obtain a timing signal after the shift operation;

[0025] The timing signal after the translation operation is output as a modulated gate control signal.

[0026] Optionally, the directional characteristic vector corresponding to the electromagnetic pulse direction is input into a pre-deployed phase mapping unit, and a phase compensation value is output according to a preset proportional relationship, including:

[0027] Extract the spatial vector elements of the input directional feature vector to obtain the scalar elements representing the attenuation degree of each propagation axis;

[0028] generating a current path bias corresponding to the scalar element according to a geometric orientation relationship between each propagation axis and a target sensor area;

[0029] The current path offset is input into a lookup table unit built into the phase mapping unit, and a phase compensation value is outputted through a preset proportional relationship.

[0030] Optionally, performing a reverse shift operation on the rising edge and falling edge timing of the original gate control signal based on the phase compensation value to obtain a timing signal after the shift operation includes:

[0031] Cutting and generating independent timing segments synchronized with the switching cycle through the level transition edge of the original gate control signal, wherein the independent timing segments include a rising edge segment consisting of a rising transition edge, a falling edge segment consisting of a falling transition edge, and a non-transition edge segment consisting of a signal steady-state holding period;

[0032] According to the phase compensation value, a fixed delay amount is inserted into the rising edge segment to generate a delayed time axis;

[0033] According to the phase compensation value, the reverse fixed advance amount is inserted into the falling edge segment to generate the advance time axis; the non-jump edge segment, the lagging time axis and the advance time axis are spliced ​​in the original switching cycle sequence to generate the timing signal after the translation operation.

[0034] Optionally, the modulated gate control signal is synchronously applied to a sensor area shielding layer of the drone, and a reverse canceling electromagnetic field having a phase opposite to that of the directional electromagnetic pulse is generated through a conductive path of the sensor area shielding layer, comprising:

[0035] a conduction path extending through the sensor region shield to the power system, transmitting the modulated gate control signal to a signal injection node at the boundary of the sensor region shield;

[0036] Based on the impedance continuity of the conductive path, the voltage signal of the signal injection node drives the directional migration of free charges in the conductive path of the shielding layer in the sensor area to generate a closed-loop time-varying current;

[0037] According to the geometric turning structure of the conductive path, free charges are gathered at the turning position of the conductive path to generate a time-varying electric field perpendicular to the plane of the geometric turning structure;

[0038] Based on the flow direction of the closed-loop time-varying current, a time-varying magnetic field surrounding the current direction is generated in the space around the conductive path;

[0039] The time-varying electric field perpendicular to the plane is coupled with the time-varying magnetic field surrounding the current direction to counteract the electromagnetic field.

[0040] In a second aspect, the present application provides a directional electromagnetic pulse suppression system based on a gallium nitride power module, comprising:

[0041] A trigger module is used to trigger the electromagnetic radiation waveform by utilizing the high-frequency switching characteristics of the gallium nitride power module pre-configured in the drone's power system;

[0042] an identification module for identifying a direction of an electromagnetic pulse propagating from the power system to a sensor area based on an electromagnetic radiation waveform generated by the high-frequency switching action;

[0043] a modulation module, 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;

[0044] a generating module, configured to synchronously apply the modulated gate control signal to the sensor area shielding layer of the drone, and generate a reverse canceling electromagnetic field having a phase opposite to that of the directional electromagnetic pulse through the conductive path of the sensor area shielding layer;

[0045] The suppression module achieves mutual cancellation by spatially coupling the reverse cancellation electromagnetic field with the directional electromagnetic pulse, thereby suppressing communication interference to the flight control unit located near the sensor area.

[0046] In a third aspect, an embodiment of the present application provides a computing device comprising 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 directional electromagnetic pulse suppression method based on a gallium nitride power module as described in the first aspect above.

[0047] In a fourth aspect, an embodiment of the present application provides a computer storage medium storing a computer program. When the computer program is executed by a computer, it implements a directional electromagnetic pulse suppression method based on a gallium nitride power module as described in the first aspect.

[0048] The embodiments of the present application dynamically identify the propagation direction of the electromagnetic pulse in space triggered by the high-frequency switching of the gallium nitride power module and modulate the phase of the gate control signal in real time accordingly, so that the modulated signal synchronously applied to the shielding layer of the sensor area can generate a canceling electromagnetic field in the conductive path that is precisely opposite to the phase of the interfering pulse. By coupling this reverse field with the spatial energy of the original directional electromagnetic pulse on the propagation path, efficient neutralization of electromagnetic interference is achieved, significantly reducing the interference intensity of the electromagnetic pulse on the flight control unit (such as the gyroscope, magnetometer and communication bus). Therefore, even in scenarios where the radiation direction is dynamically shifted due to high-speed maneuvers of the drone, the stability of the flight control system and the reliability of communication can still be guaranteed.

[0049] Furthermore, a precise phase compensation value is generated by presetting the phase mapping relationship, and then a reverse shift operation is performed on the rising and falling edge timings of the gate control signal. This operation utilizes the transient characteristics of the current path switching to reconstruct the spatiotemporal distribution of the current mutation moment on a nanosecond time scale, ensuring that the generated reverse cancellation electromagnetic field achieves a strict phase reversal match with the interference pulse in the propagation direction, and ultimately achieves precise cancellation of spatial electromagnetic field energy under lightweight hardware conditions without the need to increase the weight of the electromagnetic shielding.

[0050] These and other aspects of the present application will become more readily apparent from the description of the following embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0052] Figure 1 A flow chart of a directional electromagnetic pulse suppression method based on a gallium nitride power module provided by the present application is shown;

[0053] Figure 2 A schematic structural diagram of a directional electromagnetic pulse suppression system based on a gallium nitride power module provided by the present application is shown;

[0054] Figure 3 A schematic structural diagram of a computing device provided by the present application is shown. DETAILED DESCRIPTION

[0055] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.

[0056] In some of the processes described in the specification and claims of this application and the above-mentioned figures, multiple operations that appear in a specific order are included, but it should be clearly understood that these operations may not be executed in the order in which they appear in this document or may be executed in parallel. The serial numbers of the operations, such as 101, 102, etc., are only used to distinguish between different operations, and the serial numbers themselves do not represent any order of execution. 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 of "first", "second", etc. in this document are used to distinguish different messages, devices, modules, etc., and do not represent a sequential order, nor do they limit "first" and "second" to being different types.

[0057] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without making creative efforts are within the scope of protection of this application.

[0058] Figure 1 A flow chart of a directional electromagnetic pulse suppression method based on a gallium nitride power module is provided for an embodiment of the present application. Figure 1 As shown, the method includes:

[0059] Step 101 : Using the high-frequency switching characteristics of a gallium nitride power module pre-configured in the power system of the drone to trigger an electromagnetic radiation waveform.

[0060] In this step, high-frequency switching characteristics refer to the MHz-level gate drive capability supported by the electron mobility (GaN material exceeds 2,000 cm² / V·s) and lateral electric field strength (>3.3 MV / cm) of the gallium nitride power module, which achieves current switching by rapidly switching the internal two-dimensional electron gas channel. The electromagnetic radiation waveform is generated by the resonant coupling of parasitic inductance (Lp) and junction capacitance (Coss) when the current suddenly changes (dt <1ns). Its propagation exhibits spatial directionality, and the main radiation intensity axially depends on the power module packaging structure (such as the electromagnetic coupling effect of the copper substrate).

[0061] In the embodiment of the present application, a gate drive unit first outputs a timed square wave signal to the gate terminal of the gallium nitride power module, forcing carriers in the channel to migrate between the source and drain in nanoseconds, generating current path switching with controllable switching cycles (switching frequency range 1-10MHz). Secondly, at the transition edge of each current path switching, the inductive effect (parasitic inductance Lp) of the internal bonding wire of the module and the charge and discharge resonance of the chip junction capacitance (Coss) are utilized to stimulate a transient current pulse with a steep rising edge (di / dt>200 A / μs). Finally, with the help of the electromagnetic induction mechanism of the current pulse in the copper layer of the power module package, an electromagnetic radiation waveform centered on the carrier fundamental frequency and with a harmonic attenuation distribution is coupled into the surrounding space. The main lobe radiation direction is determined by the geometric layout of the ground layer of the package substrate.

[0062] For example, in a quadcopter performing a 30° forward tilt and high-speed maneuver, using a 650V / 100A GaN half-bridge module as an example, the drone's flight controller outputs a 200kHz PWM command to a gate driver chip (such as the LM5113). The driver converts this command into a gate control signal with a peak value of +6V / -3V. When the rising edge of the signal is triggered, the GaN chip channel is instantly turned on, and the drain current jumps from 0A to 82A within 15ns (di / dt ≈ × A / s). When this sudden current flows through the 1.2nH parasitic inductance inside the power module, it generates a reverse electromotive force (U = L·di / dt ≈ 6.6V), which excites the 5pF junction capacitance in the package structure to produce damped oscillation (center frequency ≈ 230MHz). The oscillating energy is radiated into space through the four-quadrant radiating structure of the module's copper substrate, forming a main lobe deflected 25° in the positive direction of the X-axis in the drone's body coordinate system (with a half-power beamwidth of 60°). This waveform serves as the original input for direction identification in step 102.

[0063] Step 102 : Identify 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.

[0064] In this step, the multi-axis radiation sensing unit refers to a miniature 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 separated from the original waveform by time domain windowing filtering and is a high-frequency damped oscillation wavelet that is strictly synchronized with the moment of current mutation; the spatial attenuation eigenvector is a mathematical vector that quantifies the degree of energy attenuation of the oscillation component between adjacent sensing units, and its element value is calculated by normalizing the axial geometric distance and the medium transmission coefficient.

[0065] In an embodiment of the present application, first, a three-axis magnetic coupling coil array arranged on a power system circuit board is used to synchronously capture the electromagnetic radiation waveform to generate time domain intensity signals in the three axes of X / Y / Z; secondly, a Morlet wavelet transform is performed on each axial signal to extract the damped oscillation component (signal-to-noise ratio>40dB) that is in phase with the current mutation described in step 101 within the frequency band of 140-350MHz; then, the peak envelope energy ratio of the oscillation components between adjacent sensing units (such as Y1 and Y2 units) is calculated to obtain a set of spatial energy attenuation coefficients for each axis; finally, all axial coefficients are L2-norm normalized to construct a spatial attenuation feature vector, and the axis corresponding to the maximum value in the vector is selected as the main radiation direction, and its unit vector points to the direction of electromagnetic pulse propagation in the sensor area.

[0066] Continuing with the 30° forward tilt maneuvering drone scenario in step 101: When the GaN module radiates a 230MHz main lobe waveform in the X+25° direction, the magnetic coupling coils (8mm spacing) arranged in the four quadrants of the motor driver board simultaneously capture the signal. The X-axis coil induction intensity decays from 12V / m (unit X1) to 7V / m (unit X2), the Y-axis from 10V / m (Y1) to 9.2V / m (Y2), and the Z-axis from 3V / m (Z1) to 0.8V / m (Z2). After separating the 230MHz oscillation components using wavelet transform, the peak energy decay rates of adjacent units are calculated: the X-axis attenuation rate is 0.42 (=(12²-7²) / 12²), the Y-axis is 0.15, and the Z-axis is 0.93. The normalized eigenvector [0.42, 0.15, 0.93] / √(0.42²+0.15²+0.93²)=[0.38, 0.14, 0.84], with the maximum value of 0.84 corresponding to the negative Z-axis direction (determined by the data flow from unit Z1 to Z2). Combined with the forward tilt attitude coordinate system transformation of the drone, the actual propagation direction is calculated to be the body coordinate X+25° / Z-15°, with a geometric orientation deviation of less than 5° from the sensor area (gyroscope module).

[0067] Step 103 : 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 a modulated gate control signal.

[0068] In this step, the directional eigenvector refers to the quantized value (unit vector form) of the three-dimensional space propagation direction output in step 102, and its elements represent the proportion of each axial propagation intensity; 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 the phase compensation instruction through the preloaded geometric posture 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 to the falling edge, to ensure that the generated reverse electromagnetic field and the interference pulse achieve phase reversal matching on the propagation path.

[0069] In an embodiment of the present application, the directional feature vector generated in step 102 is first input into a phase mapping unit, and the path relative coefficients of each axis and the sensor area are obtained by vector element decomposition. Combined with the propagation speed of electromagnetic waves in the body medium, the phase delay triggered by the equivalent path difference is calculated as the phase compensation value; secondly, the digital waveform sequence of the original gate control signal is extracted from the cache of the gallium nitride power module driver chip; then, according to the phase compensation value, delayed time slices are inserted into the rising edge segment of the original signal, and advanced time slices are inserted into the falling edge segment, while keeping the non-jump edge segment timing unchanged; finally, the reconstructed time slices are re-spliced ​​according to the switching cycle to generate a phase-modulated gate control signal.

[0070] Following the X+25° / Z-15° propagation direction (eigenvector [0.38, 0.14, 0.84]) identified in step 102: 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 5cm×0.38, Z-axis projection distance 3cm×0.84), combined with the electromagnetic wave velocity of the epoxy resin substrate ( × m / s), the time delay difference caused by the propagation direction is solved to be -1.8ns (a negative value indicates a signal phase advance); at this time, the original gate signal (200kHz square wave, rise time 15ns) is extracted, and 1.8ns delay slices are inserted into the rising edge segment (extending from 15ns to 16.8ns), and 1.8ns advance slices are inserted into the falling edge segment (shortening from 15ns to 13.2ns), while the non-jump edge segment remains unchanged; after reconstruction, a modulated signal is generated, whose rising edge lags by 1.8ns and the falling edge leads by 1.8ns on the time axis, so that the reverse electromagnetic field excited by the subsequent shielding layer achieves precise phase reversal matching with the 230MHz interference pulse.

[0071] Step 104 : synchronously applying the modulated gate control signal to the sensor area shielding layer of the drone, and generating a reverse canceling electromagnetic field with a phase opposite to that of the directional electromagnetic pulse through the conductive path of the sensor area shielding layer.

[0072] In this step, the conduction path refers to the impedance-matched microstrip line extending from the GaN power module gate driver to the boundary of the sensor shield layer. Its characteristic impedance (50Ω±5%) ensures reflection-free nanosecond signal transmission. The geometric turning structure refers to the sharp-angle fold line layout designed in the conductive path of the shield layer (such as a 45° turning array), which is used to enhance the charge accumulation effect at the corners. 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.

[0073] In an embodiment of the present application, the modulated gate control signal is first transmitted from the power module end to the signal injection node of the shielding layer in the sensor area through a microstrip line (ensuring that the signal rise / fall time distortion rate is <5%); secondly, the voltage jump of the injection node is used to drive the directional migration of free charges in the conductive 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 conductive path is excited in the normal direction of the turning position (the dV / dt direction is opposite to the modulation signal), and a time-varying magnetic field is generated along the circumferential direction of the conductive path; finally, through the vector superposition of the electric field and the magnetic field, a broadband reverse cancellation electromagnetic field is synthesized in space, which is consistent with the propagation direction of the directional electromagnetic pulse but has a strictly opposite phase.

[0074] Following step 103, a modulated signal with a rising edge of 16.8ns and a falling edge of 13.2ns is output. This signal is transmitted to the H-shaped shield layer (with a geometric turning angle of 45°) of the gyroscope module via a 50Ω ceramic substrate microstrip line. When the rising edge of the modulated signal reaches the injection node (jump voltage +6V), the free charge on the shield layer copper foil path is driven to migrate to the right turning angle. Within 0.8ns, the surface charge density at the turning angle reaches × C / m², generating a vertically downward time-varying electric field (peak -28 kV / m). Simultaneously, charge migration forms a closed-loop current (peak 12A), stimulating a surrounding magnetic field (peak 0.15 A / m) around the path. At this point, the original 230MHz interference pulse has a field strength of +12 V / m (phase 0°) in the sensor area, while the resulting composite field generated by the shielding layer is a vector superposition of a -10.8 V / m electric field and a -0.12 A / m magnetic field, for a total field strength of -11.7 V / m (phase 180°). After spatial coupling, the two cancel out 87% of the interference energy (residual strength <1.5 V / m), meeting the flight control unit's tolerance threshold.

[0075] Step 105 : The reverse-cancelling electromagnetic field and the directional electromagnetic pulse are spatially coupled to achieve mutual cancellation, thereby suppressing communication interference to the flight control unit located near the sensor area.

[0076] In this step, wavefront interference refers to the superposition of wavefronts with equal amplitude and 180° phase difference formed by the reverse cancellation of the electromagnetic field and the original directional electromagnetic pulse in the spatial position of the sensor area, causing the synthetic field strength to approach zero. Communication interference suppression specifically refers to the elimination of three core faults in the flight control unit: sampling distortion of the gyroscope analog-to-digital converter, error in the magnetometer magnetic declination calculation, and failure of I²C bus data packet verification. The judgment criterion is that the sensor output signal-to-noise ratio recovers to above the threshold (>55dB).

[0077] In the embodiment of the present application, first, when the reverse-cancelling electromagnetic field (phase lag of 180°) meets the directional electromagnetic pulse at a spatial point in the sensor area, the electric field components and magnetic field components of the two are vector-synthesized respectively according to the principle of linear superposition of time-varying fields by Maxwell's equations; secondly, because the amplitude of the reverse field is equal to the pulse amplitude through geometric optimization design but the phase is strictly inverted, the synthesized electric / magnetic field forms destructive interference within the target frequency band (100-300MHz); then, the spatial energy integration is used to verify that the field intensity in the interference area is attenuated to below the sensor tolerance threshold (typical value <3% of the original intensity); finally, the flight control unit resumes normal communication in a low-noise environment: gyroscope sampling eliminates quantization distortion, magnetometer heading solution restores ±0.5° accuracy, and the I²C bus bit error rate is reduced to the following.

[0078] The 11.7 V / m reverse cancellation field (phase 180°) generated in step 104 couples 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 electric field component, Etotal, = |12∠0° + 11.7∠180°| = 0.3 V / m (97.5% attenuation), and the magnetic field component, Htotal, = |0.15∠0° + 0.12∠180°| = 0.03 A / m (80% attenuation). Measurements using an omnidirectional near-field probe show that the total radiated energy density in the sensor area drops from 1.58 mW / cm² to 0.037 mW / cm² (meeting the <0.05 mW / cm² tolerance standard). At this point, the gyroscope's attitude angle fluctuation, originally at ±3.2° when disturbed, recovered to ±0.4° (the standard deviation of the sampling value dropped from 0.82° to 0.07°). The magnetometer's heading angle jump of ±12° caused by electromagnetic bias disappeared, and the static test heading drift was <0.3° / min. The bit error rate on the I²C bus, operating at 400kHz, dropped from 17 per second to zero error for 72 hours, and the CRC check pass rate was 100%.

[0079] In summary, the present embodiment dynamically adapts the propagation direction of the electromagnetic pulse caused by the high-frequency switch to generate a reverse-cancelling electromagnetic field with precise phase reversal in real time, effectively eliminating the directional interference of the electromagnetic pulse on the flight control sensor in the high-speed maneuvering scenario of the UAV, significantly improving the stability of the flight control system, and at the same time overcoming the weight burden of traditional electromagnetic shielding to achieve hardware-lossless interference suppression.

[0080] To address the problem of inaccurate radiation waveform modeling caused by ignoring the interaction between high-frequency switching action and parasitic parameters in the prior art, and to improve the accuracy of directional excitation of transient oscillation characteristics of current mutations, in some embodiments, according to step 101, the high-frequency switching characteristics of the gallium nitride power module pre-configured in the power system of the drone are utilized to trigger the electromagnetic radiation waveform, including:

[0081] In step 201 , a gate driving unit of the GaN power module is used to switch a current path within the GaN power module at a preset frequency, forcing the current to be instantaneously switched on and off between the drain and the source.

[0082] In this step, the gate drive unit refers to a solid-state switching circuit that integrates level conversion and transient response, and its output end is directly coupled to the gate metal electrode of the gallium nitride chip; current path switching specifically refers to controlling the on and off states of the two-dimensional electron gas channel to change the migration direction of carriers (electrons) at the source-drain semiconductor interface, thereby forming a spatial reconstruction of the current path.

[0083] In an embodiment of the present application, the PWM signal from the flight controller first 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 transition of this 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 cut off. Finally, the above process is periodically repeated at a preset switching frequency to achieve high-speed on-off switching of the current between the source and the drain.

[0084] Step 202 : At each instant of current path switching, based on the coupling effect of the parasitic inductance and parasitic capacitance of the GaN power module, a current mutation is generated and a transient electromagnetic oscillation is excited.

[0085] In this step, parasitic inductive coupling refers to the suppression of sudden current by the reverse electromotive force generated by the inductance of the bonding wire itself when the current path is switched; transient electromagnetic oscillation specifically refers to the attenuated sinusoidal electromagnetic wave formed by the resonance of parasitic capacitance and inductance, and its oscillation frequency is determined by the equivalent impedance of the LC network.

[0086] In the embodiment of the present application, first, at the moment when the current path is cut off, the parasitic inductance of the bonding wire hinders the sudden change of current to generate a high-voltage reverse electromotive force; secondly, the 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 copper layer inside the module, and the alternating changes in the eddy current magnetic field radiate electromagnetic waves into space through the packaging medium; finally, based on the geometric asymmetry of the packaging substrate, the radiated wave forms a transient oscillation waveform with main lobe directionality.

[0087] Step 203: Utilize the transient electromagnetic oscillation to radiate to the surrounding space through the module packaging structure to generate an electromagnetic radiation waveform with directional propagation characteristics.

[0088] In this step, the module packaging structure specifically refers to the laminated electromagnetic compatibility package of the gallium nitride power module, which is composed of a copper substrate, a dielectric insulation layer and an electromagnetic shielding shell. Its geometric asymmetric layout (such as the ground layer window bias) directionally modulates the electromagnetic wave radiation pattern; the directional propagation characteristic refers to the characteristic that the main lobe radiation intensity of the electromagnetic wave in space is significantly higher than the side lobe, and its main axis orientation is determined by the vector superposition effect of the metal conductive path in the package.

[0089] In the embodiment of the present application, first, the transient oscillating 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 insulating layer; secondly, the propagation phase of the electromagnetic wave is nonlinearly modulated by the gradient-changing dielectric constant distribution in the insulating 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 shell, the energy is superimposed in a specific orientation to form a high-gain main lobe, and is suppressed as low-order side lobes in other directions, and finally an electromagnetic radiation waveform with clear spatial directivity is output.

[0090] To address the problem in the prior art of being unable to locate the pulse propagation direction due to the lack of a spatial attenuation feature quantification mechanism, and to improve the reliability of direction identification based on multi-axis intensity distribution, in some embodiments, according to step 102, 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 includes:

[0091] Step 301: Capture the intensity distribution signals of the electromagnetic radiation waveform in different spatial axes through a multi-axis radiation sensing unit on a power system circuit board of the UAV.

[0092] In this step, the multi-axis radiation sensing unit refers to a miniature magnetic field coupling sensor array arranged in the orthogonal coordinate system (X / Y / Z axes) of the power system circuit board, whose spatial sensitivity pattern covers omnidirectional reception; the intensity distribution signal specifically refers to the time-varying electromagnetic field intensity raw waveform data captured by the sensor in three-dimensional space, including the main lobe radiation energy and its azimuthal characteristics.

[0093] In an embodiment of the present application, a three-axis orthogonal micro magnetic coupling coil array is first arranged around the gallium nitride power module, with the plane normal of each coil pointing to a specific axis. Secondly, when the directional electromagnetic pulse generated in step 203 propagates to the coil array, each coil generates an induced electromotive force proportional to the rate of change of the magnetic field intensity according to Faraday's law of electromagnetic induction. The induced electromotive force is then converted into a voltage waveform signal through a current-voltage conversion circuit, and the time-domain voltage sequence of the three axes X / Y / Z is synchronously recorded. Finally, impedance matching and low-noise amplification are performed on the signals of each axis, and three sets of waveform data corresponding to the spatial radiation intensity in real time are output.

[0094] Step 302 : extract waveform features of the intensity distribution signal in each axis, and separate the transient oscillation component directly associated with the current mutation.

[0095] In this step, the transient oscillation component specifically refers to the nanosecond damped oscillation waveform excited by the sudden change in the current of the GaN power module (step 201), whose time domain characteristics are manifested as a sinusoidal envelope with exponentially decaying amplitude; feature extraction refers to the use of a joint time-frequency analysis method to separate the high-frequency oscillation sub-wave that is strictly synchronized with the switching action from the composite signal.

[0096] In an embodiment of the present application, the intensity distribution signal of each axis is first windowed and synchronized, and a signal segment is intercepted with the switching transition edge of the gate drive unit as the time reference; secondly, a complex Morlet wavelet transform is used to perform time-frequency decomposition on the intercepted segment, and a scale-energy distribution diagram is calculated within the frequency band range of 150-350MHz; then, the oscillation frequency point that is strictly synchronized with the moment of current mutation is located through energy peak detection, and the time-scale slice corresponding to the frequency point is extracted; finally, the slice is subjected to an inverse wavelet transform to reconstruct the time domain signal, generating a pure transient oscillation component sequence.

[0097] Step 303: Calculate the amplitude attenuation rate of the transient oscillation component between adjacent radiation sensing units to generate a spatial attenuation feature vector.

[0098] In this step, the amplitude attenuation rate refers to the natural logarithmic attenuation coefficient of the ratio of the peak energy of the transient oscillation components captured by adjacent sensing units in the same axis, which is used to quantify the propagation loss of electromagnetic waves in a specific axis; the spatial attenuation eigenvector is the normalized mathematical vector of the attenuation rate in the three orthogonal directions, and the physical meaning of its elements characterizes the comprehensive effect of dielectric absorption and diffraction loss in each axial propagation path.

[0099] In an embodiment of the present application, first, two groups of adjacent sensing units in each axis (such as X1 and X2, Y1 and Y2, Z1 and Z2) are selected to extract the time domain envelope peak energy of their transient oscillation components respectively; secondly, the energy ratio of adjacent units (near-field unit energy / far-field unit energy) is calculated, and the natural logarithm of the ratio is taken to obtain the axial attenuation rate; then, all axial attenuation rates are normalized by the L2 norm (to eliminate hardware sensitivity differences); finally, the normalized three-axis attenuation rates are used to construct a spatial attenuation feature vector in the order of [X, Y, Z], and its element value range is mapped to the interval [0, 1].

[0100] Step 304: Determine the direction of the electromagnetic pulse according to the axial direction corresponding to the maximum attenuation rate in the spatial attenuation characteristic vector.

[0101] In this step, the axis of maximum attenuation rate is the coordinate axis corresponding to the element with the largest value in the spatial eigenvector, reflecting that the energy attenuation of the electromagnetic wave is most significant when propagating along this axis; the direction determination mechanism is based on the exponential attenuation law of electromagnetic wave propagation energy in the medium, and the direction of maximum attenuation rate is the main direction of wave propagation.

[0102] In the embodiment of the present application, a sorting operation is first performed on the three elements of the spatial attenuation characteristic vector to determine the maximum value and the axis to which it belongs; secondly, according to the layout orientation of the sensing unit (such as the negative direction of the Z axis from Z1 to Z2 pointing to the sensor area), the axis is combined with the unit position relationship to generate a propagation direction vector; finally, through the coordinate system conversion (body coordinate system → sensor coordinate system), the direction of the electromagnetic pulse is determined and the three-dimensional space vector angle (azimuth angle θ, pitch angle φ) of the electromagnetic pulse pointing to the sensor area is output.

[0103] In order to solve the problem of mismatch between the phase of the reverse cancellation signal and the delay of the pulse propagation path in the prior art and to improve the accuracy of achieving precise phase reversal of the reverse field through gate signal timing modulation, in some embodiments, according to step 103, the phase of the gate control signal of the gallium nitride power module is modulated in real time according to the direction of the electromagnetic pulse to obtain a modulated gate control signal, including:

[0104] Step 401: input the directional characteristic 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.

[0105] In this step, the phase mapping unit refers to an embedded hardware logic module that stores the conversion relationship between the electromagnetic wave spatial propagation path difference and the time delay, and realizes the nonlinear mapping of the directional characteristics to the phase offset through a lookup table.

[0106] In the embodiment of the present application, the directional characteristic vector output from step 304 is first input into the phase mapping unit in the order of [X, Y, Z]; secondly, the axial component value is extracted through the vector decomposition module, and the equivalent path difference is calculated based on the geometric distance projection between the axial direction and the sensor area; then, the path difference is converted into a time delay according to the equivalent propagation speed of the electromagnetic wave in the body medium (epoxy resin substrate, air layer); finally, the corresponding gate signal timing adjustment value is output as the phase compensation value through the preset delay amount-phase compensation lookup table.

[0107] Step 402: Acquire the original gate control signal of the gallium nitride power module.

[0108] 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 driver chip. Its voltage jump timing is strictly synchronized with the flight control command.

[0109] In an embodiment of the present application, the input signal buffer register of a gate driver chip (such as the TI LM5113) is first accessed through the SPI interface of the gate driver chip. Secondly, the digital level sequence within the current switching cycle is read, including the precise timestamps of the rising edge, falling edge, and steady-state hold period. Then, the digital sequence is reconstructed into an analog waveform timing model according to the system clock resolution. Finally, the model is output as a digital copy of the original gate control signal.

[0110] Step 403 : performing a reverse shift operation on the rising edge and falling edge timing of the original gate control signal based on the phase compensation value to obtain a timing signal after the shift operation.

[0111] In this step, the reverse shift operation specifically refers to the asymmetric timing adjustment of the key transition edges of the gate control signal: a fixed delay (positive time offset) is applied to the rising edge, and an equal fixed advance (negative time offset) is applied to the falling edge; the timing signal refers to dividing the original continuous waveform into a discrete time axis sequence including rising segments, falling segments and steady-state segments according to the switching cycle, and forming a digital waveform model with reset timestamp after shift reconstruction.

[0112] In an embodiment of the present application, the original gate control signal (output of step 402) is first cut by the timestamp parsing engine to split it into independent timing segments: including a rising edge segment starting from a rising jump edge, a falling edge segment starting from a falling jump edge, and a non-jump edge segment maintained in a steady state; secondly, a fixed delay amount is inserted into the rising edge segment according to the phase compensation value of step 401 to generate a lagging time axis; at the same time, a fixed advance amount with equal value but opposite direction is inserted into the falling edge segment to generate an advanced time axis; then the original time coordinates of the non-jump edge segment are maintained unchanged; finally, all segments are re-joined in the original order of the switching cycle to form a continuous time axis reconstructed signal.

[0113] Step 404: output the timing signal after the shift operation as a modulated gate control signal.

[0114] In this step, the modulated gate control signal refers to a digital waveform model that has completed timing reconstruction, which 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.

[0115] In an embodiment of the present application, the discrete timing signal reconstructed in step 403 is first input into a programmable delay line chip (such as the DS1023), and its precision clock management unit converts the digital timestamp sequence into equivalent voltage jump timing instructions. Secondly, the voltage conversion unit of the driver chip (such as the LM5113) converts the timing instructions into a gate drive voltage waveform of corresponding amplitude. Then, the output waveform is slew rate tested to ensure that the physical implementation of the translation operation is distortion-free (edge ​​jitter <0.5%). Finally, the verified qualified signal is sent to the gate of the GaN power module via a low-impedance transmission line.

[0116] In order to solve the problem of increased phase compensation deviation caused by the lack of correlation between spatial orientation and circuit parameters in the prior art, and to improve the accuracy of current path offset mapping based on geometric posture, in some embodiments, according to step 401, the directional characteristic vector corresponding to the electromagnetic pulse direction is input into a pre-deployed phase mapping unit, and a phase compensation value is output according to a preset proportional relationship, including:

[0117] Step 501 : extracting space vector elements from the input directional feature vector to obtain scalar elements representing the attenuation degree of each propagation axis.

[0118] In this step, spatial vector element extraction refers to the process of independently decoupling each component (X / Y / Z) of the three-dimensional directional eigenvector into a scalar parameter. The scalar element specifically refers to the pure numerical value after eliminating the directionality of the vector. Its physical meaning represents the logarithmic measurement value of the corresponding axial electromagnetic wave energy attenuation amplitude, which is used to quantify the propagation loss intensity of the axis.

[0119] In the embodiment of the present application, the directional characteristic vector (three-dimensional mathematical vector) input in step 304 is first received; secondly, the independent component values ​​of the three orthogonal axes X, Y, and Z are separated through the vector decomposition module; then the absolute value of each component value is taken to eliminate the influence of the directional sign; finally, three sets of non-negative scalar data are output, and each scalar element corresponds to a quantized value of the electromagnetic wave energy attenuation intensity in a specific axis, which constitutes the input basis for subsequent geometric relationship calculations.

[0120] Step 502 : Generate a current path bias corresponding to the scalar element according to a geometric orientation relationship between each propagation axis and a target sensor area.

[0121] In this step, the geometric orientation relationship refers to the cosine value of the projected angle between the line vector connecting 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.

[0122] In the embodiment of the present application, the three-dimensional spatial vector of the sensor area relative to the radiation source is first calculated based on the real-time attitude data (pitch / roll angle) of the drone. Next, the direction cosine values ​​of the vector and 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 of step 501 to obtain a compensation coefficient reflecting the spatial path effect. Finally, the compensation coefficient is converted into an electrical bias of the carrier migration path of the gallium nitride module through a preset electromagnetic-circuit coupling model.

[0123] Step 503: input the current path offset into a lookup table unit built into the phase mapping unit, and output a phase compensation value according to a preset proportional relationship.

[0124] In this step, the lookup table unit refers to the 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 nonlinear mapping rule between the current bias and the gate signal phase compensation, which is established based on the carrier mobility-electric field strength curve fitting of the gallium nitride module to ensure that the spatial path difference is converted into precise timing adjustment.

[0125] In the embodiment of the present application, the current path bias outputted in step 502 is first inputted into the address decoder of the lookup table unit, and the target storage interval is determined by range segment matching; secondly, the proportional coefficient stored in the interval is read (including the main coefficient K and the secondary correction term ΔK); 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 is performed (limited to ±20% of the switching period), and a phase compensation value that can be directly used for gate signal timing modulation is outputted.

[0126] In order to solve the problem in the prior art that the overall shift of the gate signal causes switching waveform distortion and aggravates electromagnetic interference, and to improve the phase stability of the independent control of the rising / falling edge timing in time periods, in some embodiments, according to step 403, the rising edge and falling edge timing of the original gate control signal are reversely shifted based on the phase compensation value to obtain the timing signal after the shift operation, including:

[0127] Step 601, cutting and generating independent timing segments synchronized with the switching cycle through the level transition edge of the original gate control signal, wherein the independent timing segments include a rising edge segment consisting of a rising transition edge, a falling edge segment consisting of a falling transition edge, and a non-transition edge segment consisting of a signal steady-state holding period.

[0128] In this step, the level jump edge refers to the voltage jump area of ​​the gate control signal from low level to high level (rising edge) or 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 jump moment. Each interval contains a single event feature (jump or steady state) for independent timing control.

[0129] In an embodiment of the present application, the voltage jump timestamp (rising edge starting point, falling edge starting point) of the original gate control signal is first identified; secondly, a fixed time window is expanded forward and backward with the jump point as the center (covering the entire jump process), and the rising edge segment and the falling edge segment are divided; then, the steady-state maintenance interval of the high and low levels of the signal is extracted as the non-jump edge segment; finally, a unique timing label is added to each segment and stored in the order of the switching cycle to form a discrete timing group that can be operated independently.

[0130] Step 602: insert fixed delay amounts into the rising edge segments according to the phase compensation value to generate a delayed time axis.

[0131] In this step, the fixed delay is a positive time offset set according to the phase compensation value. Its physical meaning is to lag the moment of current mutation on the time axis. The delayed time axis refers to the new timing coordinate system formed by uniformly adding the delay to all timestamps in the rising edge segment. This operation only changes the rising edge phase without affecting the signal cycle integrity.

[0132] In the embodiment of the present application, the phase compensation value outputted in step 503 is first read (a negative value indicates that a delay operation is required); secondly, the entire time stamp sequence of the rising edge segment is extracted; then, a delay amount (delay amount = |phase compensation value|) is superimposed on all time stamps to generate a new time stamp set with a time delay; finally, the start and end time intervals of the segment are reconstructed based on the new timestamps to form a rising edge segment data block of the delayed time axis.

[0133] Step 603: insert a reverse fixed advance into the falling edge segment according to the phase compensation value to generate an advance time axis; splice the non-jump edge segment, the lagging time axis and the advance time axis in the original switching cycle sequence to generate a timing signal after the translation operation.

[0134] In this step, the reverse fixed advance refers to a time offset operation (negative time shift) that is equal to the delay value but in the opposite direction. The physical meaning is to trigger the current shutdown moment in advance; the advance time axis refers to a new coordinate system formed by uniformly reducing the timing value of all time stamps in the falling edge segment. Its function is to independently modulate the falling edge phase; the timing signal splicing refers to recombining the independently controlled 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.

[0135] In an embodiment of the present application, first, a uniform subtraction operation is performed on all timestamps in the falling edge segment (advance amount = delay amount value) to generate a falling edge segment data block of the advanced time axis; secondly, the original timestamps of the non-jump edge segments (high / low electric steady-state segments) are maintained unchanged; then, a timestamp continuity check is performed in the strict order of the original signal cycle: rising edge segment of the lagging time axis → high electric steady-state segment → falling edge segment of the advancing time axis → low electric steady-state segment; finally, the time steps of the segment boundaries are eliminated through the timing interpolation engine, and a continuous gate control timing signal with phase modulation completed is output.

[0136] In order to solve the problem in the prior art that the shielding layer's electromagnetic field generation mechanism is single and cannot meet the spatial coupling requirements, and to improve the enhancement of the reverse field spatial energy density through the synergistic superposition of the time-varying electric field and the magnetic field, in some embodiments, according to step 104, the modulated gate control signal is synchronously applied to the sensor area shielding layer of the drone, and a reverse offset electromagnetic field with a phase opposite to that of the directional electromagnetic pulse is generated through the conductive path of the sensor area shielding layer, including:

[0137] Step 701 : Transmitting a modulated gate control signal to a signal injection node at the boundary of the sensor region shielding layer through a conductive path extending from the sensor region shielding layer to the power system.

[0138] In this step, the signal injection node refers to the coplanar waveguide coupling structure preset at the boundary of the conductive path of the shielding layer, and the reflection-free access of the signal from the transmission line to the copper foil of the shielding layer is achieved through gold wire bonding.

[0139] In the embodiment of the present application, the modulated gate control signal output from step 404 is first connected to the input end of the conduction path; secondly, the high-frequency signal resonance is suppressed by a microstrip line width gradient design (50Ω→70Ω→50Ω); then, an electromagnetic waveguide matching medium is filled at the connector interface to eliminate the impedance mutation; finally, the signal is transmitted to the coplanar waveguide structure at the boundary of the shielding layer, and the voltage waveform is coupled to the copper foil of the shielding layer through gold wire array bonding to form an electrical excitation input for the signal injection node.

[0140] Step 702 : Based on the impedance continuity of the conductive path, the voltage signal of the signal injection node drives the directional migration of free charges in the conductive path of the shielding layer in the sensor area to generate a closed-loop time-varying current.

[0141] In this step, impedance continuity refers to the fluctuation impedance change rate of the entire path from the signal injection node to the shielding layer copper foil is ≤5% / mm, ensuring that the charge migration has no phase distortion; free charge directional migration describes the drift motion of the non-equilibrium carrier (electron) group formed in the copper foil conductive path due to the modulated signal voltage jump, and its migration direction is determined by the electric field strength vector.

[0142] In the embodiment of the present application, a voltage jump (such as +6V→-3V) is first formed at the signal injection node, and an instantaneous electric field gradient is established on the surface of the copper foil of the shielding layer; secondly, the electric field acts on the free electron group in the conductive path, forcing it to drift directionally along the low-impedance path; then, through the geometric closed-loop design of the H-type conductive path (turning angle 45°), the charge accumulates at the turning point to form a local high-density area; finally, the charge migration as a whole 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).

[0143] Step 703 : According to the geometric turning structure of the conductive path, free charges are gathered at the turning position of the conductive path to generate a time-varying electric field perpendicular to the plane of the geometric turning structure.

[0144] In this step, the time-varying electric field specifically refers to the time-varying electric field intensity vector caused by the non-uniform accumulation of charges, whose direction is perpendicular to the corner plane and is determined by the charge density gradient and the dielectric constant of the medium.

[0145] In an embodiment of the present application, first, when the closed-loop current flows through the turning corner of the conductive path (such as a 45° acute angle), the free charges are affected by the centrifugal effect and the superposition of the electric field force vector, forming a local high-density aggregation area on the inside of the corner; secondly, 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 dielectric boundary conditions (copper foil-epoxy resin interface), the electric field excited by the accumulated charges is constrained to be a unidirectional time-varying field perpendicular to the turning plane; finally, the electric field intensity oscillates synchronously with the voltage jump of the modulation signal, forming a vertical electric field component that is opposite to the original electromagnetic pulse.

[0146] Step 704 : Based on the flow direction of the closed-loop time-varying current, a time-varying magnetic field surrounding the current direction is generated in the space surrounding the conductive path.

[0147] Step 705 : Couple the time-varying electric field perpendicular to the plane and the time-varying magnetic field surrounding the current direction to form a target reverse-cancelling electromagnetic field.

[0148] In this step, the direction of the surrounding current refers to the closed loop of the magnetic field vector determined by the right-hand rule, and its magnetic lines of force are always perpendicular to the direction of current flow; the time-varying magnetic field describes the oscillation of the magnetic field intensity induced by the change of current intensity over time, its phase lags the current by 90°, and its spatial distribution conforms to the Biot-Savart law.

[0149] In the embodiment of the present application, firstly, the magnetic field strength at a point in space is calculated by integrating the Biot-Savart law according to the real-time flow direction of the closed-loop current in the conductive path (e.g., clockwise flow in an H-shaped path); secondly, the magnetic field strength at a point in space is calculated by combining the time-varying characteristics of the current (I(t)= ), derive the oscillation function of the magnetic field intensity decaying with time; then, based on Maxwell's equations, the time-varying magnetic field forms a vector component orthogonal to the electric field at the spatial point in the sensor area; finally, through field distribution optimization, the magnetic field direction is matched to the anti-phase oscillation requirement of the interfering pulse magnetic field.

[0150] Figure 2 The present invention provides a structural diagram of a directional electromagnetic pulse suppression system based on a gallium nitride power module, as shown in FIG. Figure 2 As shown, the system includes:

[0151] The trigger module 21 is used to trigger the electromagnetic radiation waveform by utilizing the high-frequency switching characteristics of the gallium nitride power module pre-configured in the power system of the UAV;

[0152] an identification module 22 for identifying the direction of electromagnetic pulses propagating from the power system to the sensor area based on the electromagnetic radiation waveform generated by the high-frequency switching action;

[0153] A modulation module 23 is 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;

[0154] a generating module 24 for synchronously applying the modulated gate control signal to the sensor area shielding layer of the drone, and generating a reverse canceling electromagnetic field having a phase opposite to that of the directional electromagnetic pulse through the conductive path of the sensor area shielding layer;

[0155] The suppression module 25 suppresses communication interference to the flight control unit located near the sensor area by spatially coupling the reverse cancellation electromagnetic field and the directional electromagnetic pulse to achieve mutual cancellation.

[0156] Figure 2 The directional electromagnetic pulse suppression system based on gallium nitride power module can perform Figure 1 The implementation principles and technical effects of the GaN-based directional electromagnetic pulse suppression method described in the illustrated embodiment are not further elaborated. The specific manner in which the various modules and units in the GaN-based directional electromagnetic pulse suppression system described in the aforementioned embodiment operate has been described in detail in the related embodiments and will not be further elaborated here.

[0157] In one possible design, Figure 2 The directional electromagnetic pulse suppression system based on the gallium nitride power module of the embodiment shown can be implemented as a computing device, such as Figure 3 As shown, the computing device may include a storage component 31 and a processing component 32;

[0158] The storage component 31 stores one or more computer instructions, wherein the one or more computer instructions are called and executed by the processing component 32 .

[0159] The processing component 32 is used for the above Figure 1 The embodiment provides a directional electromagnetic pulse suppression method based on a gallium nitride power module.

[0160] 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 as 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 to perform the above method.

[0161] The storage component 31 is configured to store various types of data to support operations at the terminal. The storage component can be implemented by any type of volatile or non-volatile memory 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.

[0162] Of course, a computing device may also include other components, such as input / output interfaces, display components, communication components, etc.

[0163] The input / output interface provides an interface between the processing component and the peripheral interface module, which can be an output device, an input device, etc.

[0164] The communication component is configured to facilitate, among other things, wired or wireless communications between the computing device and other devices.

[0165] Among them, the computing device can be a physical device or an elastic computing host provided by a cloud computing platform, etc. In this case, the computing device can refer to a cloud server, and the above-mentioned processing components, storage components, etc. can be basic server resources rented or purchased from the cloud computing platform.

[0166] The present application also provides a computer storage medium storing a computer program, wherein the computer program can achieve the above-mentioned Figure 1 The embodiment shown is a method for directional electromagnetic pulse suppression based on a gallium nitride power module.

[0167] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0168] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one location or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0169] Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented using software plus a necessary general-purpose hardware platform, or of course, hardware. Based on this understanding, the essence of the above technical solution, or the portion that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, or an optical disk, and includes a number of instructions for causing a computer device (such as a personal computer, server, or network device) to execute the methods described in each embodiment or certain portions of the embodiments.

[0170] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A directional electromagnetic pulse suppression method based on gallium nitride power module, characterized in that: include: The electromagnetic radiation waveform is triggered by the high-frequency switching characteristics of the gallium nitride power module pre-configured in the UAV's power system; identifying a direction of an electromagnetic pulse propagating from the power system to a sensor region based on an electromagnetic radiation waveform generated by the high-frequency switching action; 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 a modulated gate control signal; Synchronously applying the modulated gate control signal to the sensor area shield layer of the drone, generating a reverse canceling electromagnetic field with a phase opposite to that of the directional electromagnetic pulse through the conductive path of the sensor area shield layer, wherein the directional electromagnetic pulse is an electromagnetic pulse in the direction of the electromagnetic pulse; The reverse-cancelling electromagnetic field and the directional electromagnetic pulse are spatially coupled to achieve mutual cancellation, thereby suppressing communication interference to the flight control unit located near the sensor area.

2. The method according to claim 1, characterized in that The high-frequency switching characteristics of the GaN power module pre-configured in the drone’s power system are used to trigger electromagnetic radiation waveforms, including: By means of the gate drive unit of the gallium nitride power module, the internal current path of the gallium nitride power module is switched at a preset frequency, forcing the current to be instantaneously switched on and off between the drain and the source; At the moment of each current path switching, a current mutation is generated and a transient electromagnetic oscillation is excited based on the coupling effect of the parasitic inductance and parasitic capacitance of the gallium nitride power module; The transient electromagnetic oscillation is radiated to the surrounding space through the module packaging structure to generate an electromagnetic radiation waveform with directional propagation characteristics.

3. The method according to claim 1, characterized in that Identifying a direction of an electromagnetic pulse propagating from the power system to a sensor area based on an electromagnetic radiation waveform generated by the high-frequency switching action includes: Capturing the intensity distribution signals of the electromagnetic radiation waveform in different spatial axes through a multi-axis radiation sensing unit on a power system circuit board of the UAV; The waveform features of the intensity distribution signal in each axis are extracted to separate the transient oscillation component directly related to the current mutation. Calculating the amplitude attenuation rate of the transient oscillation component between adjacent radiation sensing units to generate a spatial attenuation eigenvector; The direction of the electromagnetic pulse is determined according to the axial direction corresponding to the maximum attenuation rate in the spatial attenuation characteristic vector.

4. The method according to claim 1, wherein According to the direction of the electromagnetic pulse, the phase of the gate control signal of the gallium nitride power module is modulated in real time to obtain a modulated gate control signal, including: The directional characteristic 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; Obtaining an original gate control signal of the gallium nitride power module; Performing a reverse shift operation on the rising edge and falling edge timing of the original gate control signal based on the phase compensation value to obtain a timing signal after the shift operation; The timing signal after the translation operation is output as a modulated gate control signal.

5. The method according to claim 4, characterized in that The directional characteristic vector corresponding to the electromagnetic pulse direction is input into the pre-deployed phase mapping unit, and the phase compensation value is output through the preset proportional relationship, including: Extract the spatial vector elements of the input directional feature vector to obtain the scalar elements representing the attenuation degree of each propagation axis; generating a current path bias corresponding to the scalar element according to a geometric orientation relationship between each propagation axis and a target sensor area; The current path offset is input into a lookup table unit built into the phase mapping unit, and a phase compensation value is outputted through a preset proportional relationship.

6. The method according to claim 4, characterized in that Performing a reverse shift operation on the rising edge and falling edge timing of the original gate control signal based on the phase compensation value to obtain a timing signal after the shift operation, including: Cutting and generating independent timing segments synchronized with the switching cycle through the level transition edge of the original gate control signal, wherein the independent timing segments include a rising edge segment consisting of a rising transition edge, a falling edge segment consisting of a falling transition edge, and a non-transition edge segment consisting of a signal steady-state holding period; According to the phase compensation value, a fixed delay amount is inserted into the rising edge segment to generate a delayed time axis; According to the phase compensation value, the reverse fixed advance amount is inserted into the falling edge segment to generate the advance time axis; the non-jump edge segment, the lagging time axis and the advance time axis are spliced ​​in the original switching cycle sequence to generate the timing signal after the translation operation.

7. The method according to claim 1, characterized in that The method comprises: synchronously applying the modulated gate control signal to the sensor area shielding layer of the drone, and generating a reverse canceling electromagnetic field with a phase opposite to that of the directional electromagnetic pulse through the conductive path of the sensor area shielding layer, comprising: a conduction path extending through the sensor region shield to the power system, transmitting the modulated gate control signal to a signal injection node at the boundary of the sensor region shield; Based on the impedance continuity of the conductive path, the voltage signal of the signal injection node drives the directional migration of free charges in the conductive path of the shielding layer in the sensor area to generate a closed-loop time-varying current; According to the geometric turning structure of the conductive path, free charges are gathered at the turning position of the conductive path to generate a time-varying electric field perpendicular to the plane of the geometric turning structure; Based on the flow direction of the closed-loop time-varying current, a time-varying magnetic field surrounding the current direction is generated in the space around the conductive path; The time-varying electric field perpendicular to the plane is coupled with the time-varying magnetic field surrounding the current direction to counteract the electromagnetic field.

8. A directional electromagnetic pulse suppression system based on gallium nitride power modules, characterized in that: include: A trigger module is used to trigger the electromagnetic radiation waveform by utilizing the high-frequency switching characteristics of the gallium nitride power module pre-configured in the drone's power system; an identification module for identifying a direction of an electromagnetic pulse propagating from the power system to a sensor area based on an electromagnetic radiation waveform generated by the high-frequency switching action; a modulation module, 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 generating module, configured to synchronously apply the modulated gate control signal to the sensor area shielding layer of the drone, and generate a reverse canceling electromagnetic field having a phase opposite to that of the directional electromagnetic pulse through the conductive path of the sensor area shielding layer, wherein the directional electromagnetic pulse is an electromagnetic pulse in the direction of the electromagnetic pulse; The suppression module achieves mutual cancellation by spatially coupling the reverse cancellation electromagnetic field with the directional electromagnetic pulse, thereby suppressing communication interference to the flight control unit located near the sensor area.

9. A computing device, characterized in that The method comprises 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 directional electromagnetic pulse suppression method 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, the method for suppressing directional electromagnetic pulses based on a gallium nitride power module according to any one of claims 1 to 7 is implemented.

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