CN102496312A - Warning method and device for invasion of aerial target in restricted airspace - Google Patents
Warning method and device for invasion of aerial target in restricted airspace Download PDFInfo
- Publication number
- CN102496312A CN102496312A CN2011104364107A CN201110436410A CN102496312A CN 102496312 A CN102496312 A CN 102496312A CN 2011104364107 A CN2011104364107 A CN 2011104364107A CN 201110436410 A CN201110436410 A CN 201110436410A CN 102496312 A CN102496312 A CN 102496312A
- Authority
- CN
- China
- Prior art keywords
- extrapolation
- track points
- spheroid
- early warning
- alarm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Landscapes
- Emergency Alarm Devices (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention discloses a warning method and device for the invasion of an aerial target in a restricted airspace. The warning method comprises the following steps of: determining an extrapolated warning track point of the aerial target; judging whether the extrapolated warning track point is located in a regular body, wherein the regular body is predetermined to include the restricted airspace; confirming not to give an alarm if the extrapolated warning track point is located out of the regular body; or further judging whether the extrapolated warning track point is located in the restricted airspace; and confirming to give the alarm if the extrapolated warning track point is located in the restricted airspace. According to the invention, the step of judging whether the extrapolated warning track point is located in the regular body which includes the restricted airspace is carried out before the step of judging whether the extrapolated warning track point is located in the restricted airspace, and the step of judging whether the extrapolated warning track point is located in the regular body is characterized in very simple calculation process and small calculating amount, so that alarm judging time is shortened, and therefore time is saved for judging the next alarm cycle, and warning timeliness is improved.
Description
Technical field
The present invention relates to the General Aviation communication technology, particularly relate to aerial target and invade the warning technology when limiting the spatial domain.
Background technology
In recent years, General Aviation has obtained fast development.Public affair flight, commercial aviation, aerial visit, private driving license training are just receiving more and more people's favor, and the enough big market demand has been arranged.Statistical figure show that the whole world has 33.6 ten thousand of general-purpose aircrafts approximately at present, and movable pilot reaches 700,000 to be engaged in General Aviation.Therefore, general-purpose aircraft plays important effect in national economy.
The fast development of General Aviation has also brought great air security potential problem.Aircraft in the General Aviation is different with the aircraft in the civil aviaton, its flight circuit, highly do not fix, in flight course, change at any time.Air traffic control department is not invaded or is the flight safety of assurance aerial target itself in order to guarantee the specific region, and in the certain hour section, draws the certain spatial areas of establishing.Therefore, the flying activity of aircraft need receive the restriction of restricted airspace, explosive area and restricted area.As far as the some flight paths of aircraft, can arrive the edge that limits the spatial domain like it in the time in adaptability, then system need alarm or early warning, reminds the controlling officer to note.
Air traffic control system in time discerns and invades aerial target in advance/and the method for alarm is: and when system detects aerial target, system carries out following cycle criterion to this aerial target, and process flow diagram is as shown in Figure 1, comprises the steps:
S101: obtain the three-dimensional coordinate of the current location of track of the target aircraft, promptly confirm the current track points of aerial target.
S102: if the distance in this track points and a certain restriction spatial domain less than in the adaptability pre-warning time the distance that can reach in advance, then give early warning;
S103: if the distance in this track points and a certain restriction spatial domain less than in the adaptability alarm time the distance that can reach in advance, then alarm;
S104: finish.Carry out next track points and handle the judgement flow process, repeat above-mentioned steps S101-S103.
Adaptability pre-warning time and adaptability alarm time rule of thumb are provided with for the technician, are that 3 minutes, adaptability alarm time are 2 minutes such as the adaptability pre-warning time can be set.In the prior art, air traffic control system is judged track points and a certain restriction spatial domain in above-mentioned steps S102,103 distance whether less than in adaptability early warning/alarm time the method for the distance that can reach in advance mainly contain:
Draw along the aerial target heading and to establish straight line; Promptly calculate aerial target heading extended line and whether have intersection point with each restriction spatial domain (the restriction spatial domain can be considered three-dimensional gengon arbitrarily); As have intersection point, then calculate the distance (as shown in Figure 2) between aerial target and the intersection point; If judge this distance less than distance that aerial target can reach in advance in adaptability early warning/alarm time, then in advance/alarm.This algorithm is relatively more direct, simple, but the intersection point method for solving operand of straight line and space body is big, and has the problem of separating more.
Perhaps, expand outwardly restriction spatial domain outer rim, the relative distance of expansion equals the distance that aerial target reaches in advance in adaptability early warning/alarm time; If judge in the spatial domain of aerial target after expansion, then in advance/alarm.The algorithm of judging point in space body is ripe relatively, reliable, but the algorithm that carries out spatial domain outer rim expansion need take a large amount of operation time.
In sum; The air traffic control system of prior art is invaded the method for alarm (or early warning) to aerial target, and operation time is long, causes alarm (or early warning) reaction slow; Under the situation that target is quickened suddenly, might produce the situation that in time to alarm (or early warning) aloft.
Summary of the invention
Alarm method and device that the embodiment of the invention provides a kind of aerial target to invade the restriction spatial domain in order to shorten the alarm judgement time, improve the promptness of alarm.
A kind of aerial target is invaded the alarm method in restriction spatial domain, comprising:
Confirm the extrapolation alarm track points of aerial target, said extrapolation alarm track points refer to said aerial target along its heading in the adaptability alarm time the location point that can reach in advance;
Judge whether said extrapolation alarm track points is positioned at rule body, and said rule body is the rule body in the said restriction of predetermined containing spatial domain;
Be positioned at outside the said rule body if judge said extrapolation alarm track points, then confirm not alarm;
Otherwise, judge further whether said extrapolation alarm track points is positioned at said restriction spatial domain; Be positioned at said restriction spatial domain if judge said extrapolation alarm track points, then confirm alarm.
Said definite aerial target in the adaptability alarm time before the location point that can reach in advance, also comprise:
Confirm the extrapolation early warning track points of said aerial target, said extrapolation early warning track points refer to said aerial target in the adaptability pre-warning time the location point that can reach in advance;
Judge whether said extrapolation early warning track points is positioned at rule body;
If judging said extrapolation early warning track points is positioned at outside the said rule body, then confirm not early warning;
Otherwise, judge further whether said extrapolation early warning track points is positioned at said restriction spatial domain; If judging said extrapolation early warning track points is positioned at said restriction spatial domain, then confirm early warning.
Said rule body is specially spheroid; Said spheroid is for containing the smallest sphere in said restriction spatial domain; Perhaps, said spheroid is the big setting value of radius, the center spheroid identical with the center of said smallest sphere of the said smallest sphere of radius ratio.
Saidly judge whether said extrapolation early warning track points is positioned at rule body and is specially:
If the three-dimensional coordinate X of said extrapolation early warning track points
1, Y
1, Z
1Satisfy like lower inequality simultaneously, judge that then said extrapolation early warning track points is positioned at said rule body; Otherwise, judge that said extrapolation early warning track points is not positioned at said rule body;
X
Min≤X
1≤X
Max(formula 1)
Y
Min≤Y
1≤Y
Max(formula 2)
Z
Min≤Z
1≤Z
Max(formula 3)
X in the above-mentioned formula 1
MaxMaximal value in the X coordinate figure of having a few for the surface of said spheroid, X
MinMinimum value in the X coordinate figure of having a few for the surface of said spheroid;
Y in the above-mentioned formula 2
MaxMaximal value in the Y coordinate figure of having a few for the surface of said spheroid, Y
MinMinimum value in the Y coordinate figure of having a few for the surface of said spheroid;
Z in the above-mentioned formula 3
MaxMaximal value in the Z coordinate figure of having a few for the surface of said spheroid, Z
MinMinimum value in the Z coordinate figure of having a few for the surface of said spheroid.
Saidly judge whether said extrapolation alarm track points is positioned at rule body and is specially:
If the three-dimensional coordinate X of said extrapolation alarm track points
2, Y
2, Z
2Satisfy with lower inequality simultaneously, judge that then said extrapolation alarm track points is positioned at said rule body; Otherwise, judge that said extrapolation alarm track points is not positioned at said rule body;
X
Min≤X
2≤X
Max(formula 7)
Y
Min≤Y
2≤Y
Max(formula 8)
Z
Min≤Z
2≤Z
Max(formula 9)
X in the above-mentioned formula 7
MaxMaximal value in the X coordinate figure of having a few for the surface of said spheroid, X
MinMinimum value in the X coordinate figure of having a few for the surface of said spheroid;
Y in the above-mentioned formula 8
MaxMaximal value in the Y coordinate figure of having a few for the surface of said spheroid, Y
MinMinimum value in the Y coordinate figure of having a few for the surface of said spheroid;
Z in the above-mentioned formula 9
MaxMaximal value in the Z coordinate figure of having a few for the surface of said spheroid, Z
MinMinimum value in the Z coordinate figure of having a few for the surface of said spheroid.
Said rule body is specially: outside the smallest sphere that contains said restriction spatial domain, contain the minimum square of said spheroid.
Saidly judge whether said extrapolation early warning track points is positioned at rule body and is specially:
If the three-dimensional coordinate X of said extrapolation early warning track points
1, Y
1, Z
1Satisfy with at least one inequality in the lower inequality, judge that then said extrapolation early warning track points is positioned at said rule body; Otherwise, judge that said extrapolation early warning track points is not positioned at said rule body;
X
Min≤X
1≤X
Max(formula 4)
Y
Min≤Y
1≤Y
Max(formula 5)
Z
Min≤Z
1≤Z
Max(formula 6)
X in the above-mentioned formula 4
MaxMaximal value in the X coordinate figure of having a few for the surface of said spheroid, X
MinMinimum value in the X coordinate figure of having a few for the surface of said spheroid;
Y in the above-mentioned formula 5
MaxMaximal value in the Y coordinate figure of having a few for the surface of said spheroid, Y
MinMinimum value in the Y coordinate figure of having a few for the surface of said spheroid;
Z in the above-mentioned formula 6
MaxMaximal value in the Z coordinate figure of having a few for the surface of said spheroid, Z
MinMinimum value in the Z coordinate figure of having a few for the surface of said spheroid.
Saidly judge whether said extrapolation alarm track points is positioned at rule body and is specially:
If the three-dimensional coordinate X of said extrapolation alarm track points
2, Y
2, Z
2Satisfy with at least one inequality in the lower inequality, judge that then said extrapolation alarm track points is positioned at said rule body; Otherwise, judge that said extrapolation alarm track points is not positioned at said rule body;
X
Min≤X
2≤X
Max(formula 10)
Y
Min≤Y
2≤Y
Max(formula 11)
Z
Min≤Z
2≤Z
Max(formula 12)
X in the above-mentioned formula 10
MaxMaximal value in the X coordinate figure of having a few for the surface of said spheroid, X
MinMinimum value in the X coordinate figure of having a few for the surface of said spheroid;
Y in the above-mentioned formula 11
MaxMaximal value in the Y coordinate figure of having a few for the surface of said spheroid, Y
MinMinimum value in the Y coordinate figure of having a few for the surface of said spheroid;
Z in the above-mentioned formula 12
MaxMaximal value in the Z coordinate figure of having a few for the surface of said spheroid, Z
MinMinimum value in the Z coordinate figure of having a few for the surface of said spheroid.
A kind of aerial target is invaded the alarm device in restriction spatial domain, comprising:
Warning processing module, be used for confirming the extrapolation alarm track points of aerial target, said extrapolation alarm track points refer to said aerial target along its heading in the adaptability alarm time the location point that can reach in advance;
First judge module, track points is alarmed in the extrapolation that is used for confirming according to said warning processing module, judges whether said extrapolation alarm track points is positioned at rule body; If return not warning information to said warning processing module; Otherwise, send and continue to judge notice;
Second judge module, notice is judged in the continuation that is used for sending according to said first judge module, judges whether said extrapolation alarm track points is positioned at said restriction spatial domain; If return warning information to said warning processing module; Otherwise, return not warning information to said warning processing module;
Whether said warning processing module is alarmed according to the information decision of returning.
Said device also comprises:
The early warning processing module is used for confirming the extrapolation early warning track points of said aerial target; And,
Said first judge module also is used for the extrapolation early warning track points definite according to said early warning processing module, judges whether said extrapolation early warning track points is positioned at rule body; If return not early warning information to said early warning processing module; Otherwise, send and continue to judge notice;
Notice is judged in the continuation that second judge module also is used for sending according to said first judge module, judges whether said extrapolation early warning track points is positioned at said restriction spatial domain; If return early warning information to said early warning processing module; Otherwise, return not early warning information to said warning processing module;
Said early warning processing module determines whether early warning according to the information of returning.
Because the embodiment of the invention is before judging whether extrapolation alarm track points is positioned at the restriction spatial domain; Judge earlier whether extrapolation alarm track points is positioned at a rule body that contains this restriction spatial domain; And whether judgement extrapolation alarm track points is positioned at the calculating process of rule body is very simple, operand is little; Be positioned at the outer situation of rule body for great majority extrapolation alarm track points, can make the decision of not alarming rapidly, shorten the alarm judgement time; Thereby practiced thrift the time for next alarm cycle criterion, improved the promptness of alarm.
Similarly; Judge early warning judgement before for alarm, before judging whether extrapolation early warning track points is positioned at the restriction spatial domain, whether elder generation's judgement extrapolation early warning track points is positioned at a rule body that contains this restriction spatial domain; And whether judgement extrapolation early warning track points is positioned at the calculating process of rule body is very simple, operand is little; Be positioned at the outer situation of rule body for great majority extrapolation early warning track points, can make the decision of not early warning rapidly, shorten the early warning judgement time; Thereby be that the time has been practiced thrift in next alarm or early warning cycle criterion, improve the promptness that alarm obtains early warning.
Description of drawings
Fig. 1 is the process flow diagram that the aerial target of prior art is invaded the preparatory/alarm method of restricted area;
Fig. 2 is the aerial target heading extended line of prior art and the synoptic diagram of the intersection point in restriction spatial domain;
Fig. 3 is the smallest sphere synoptic diagram in the containing restriction spatial domain of the embodiment of the invention;
Fig. 4 is the synoptic diagram of the minimum square outside the smallest sphere that contains the restriction spatial domain, that contain this spheroid of the embodiment of the invention;
Fig. 5 is that the aerial target of the embodiment of the invention is invaded restriction spatial domain alarm method process flow diagram;
Fig. 6 is the structural representation that the aerial target of the embodiment of the invention is invaded restriction spatial domain alarm device.
Embodiment
In a kind of method that aerial target is invaded in advance/alarmed that the embodiment of the invention provides; At first to the restriction spatial domain; Determining a rule body that can contain this restriction spatial domain, for example, can be the spheroid that contains this restriction spatial domain; Preferable, this spheroid is the smallest sphere (as shown in Figure 3) that can contain this restriction spatial domain; Perhaps, this rule body can be a spheroid, and this spheroid is the big setting value of the radius of the said smallest sphere of radius ratio, the center spheroid identical with the center of said smallest sphere, and promptly the radius of smallest sphere enlarges the spheroid that is constituted after the setting value again; Perhaps, this rule body can be a minimum square (as shown in Figure 4) outside the smallest sphere that contains the restriction spatial domain, that contain this spheroid.When alarming cycle criterion, can confirm the extrapolation alarm track points of aerial target earlier, whether be positioned at rule body.Here, extrapolation alarm track points refer to aerial target along its heading in the adaptability alarm time the location point that can reach in advance, for example, the A point in as shown in Figure 3.
If in rule body, judge accurately further then whether extrapolation alarm track points is positioned at the restriction spatial domain; Be positioned at the restriction spatial domain if judge extrapolation alarm track points, then alarm; Otherwise, do not alarm.
If not in rule body, confirm then this time to judge and do not alarm that the alarm that can begin is next time judged.In fact; It is that its extrapolation alarm track points is positioned at outside the rule body that aerial target has the probability more than 90%; Whether to be positioned at the algorithm of rule body very simple and judge aerial target; Only need carry out numeric ratio, save the alarm judgement time greatly, can in time alarm the circulation of judgement next time.Especially the aerial target of quickening suddenly for flying speed shortens current this time alarm judgement time, just can in time carry out alarm next time and judge, alarm in time.
Can also before alarm is judged, increase the early warning judgement of whether aerial target being invaded the restriction spatial domain in actual applications, the judgement for early warning in the embodiment of the invention is also judged similar with alarm:
Confirm the extrapolation early warning track points of aerial target, whether be positioned at rule body.Here, extrapolation early warning track points refer to aerial target along its heading in the adaptability pre-warning time the location point that can reach in advance, for example, the B point in as shown in Figure 3.
If in rule body, judge accurately further then whether extrapolation early warning track points is positioned at the restriction spatial domain; Be positioned at the restriction spatial domain if judge extrapolation early warning track points, then carry out early warning; Otherwise, not early warning.
If not in rule body, confirm then this time to judge and do not carry out early warning that the early warning that can begin is next time judged.In fact; It is that its extrapolation early warning track points is positioned at outside the rule body that aerial target has the probability more than 90%; Whether to be positioned at the algorithm of rule body very simple and judge extrapolation early warning track points; Only need carry out the comparison of numerical value, save the early warning judgement time greatly, can in time carry out the circulation that early warning is next time judged.
Specify the technical scheme of the embodiment of the invention below in conjunction with accompanying drawing.After air traffic control system detects aerial target, aerial target is carried out the cycle criterion of early warning and alarm, process flow diagram is as shown in Figure 5, comprises the steps:
S501: the extrapolation early warning track points of confirming aerial target.
S502: judge that extrapolation early warning track points is whether in rule body; If, execution in step S503; Otherwise, confirm not early warning, finish this time early warning and judge, and carry out alarm determining step S511;
If rule body be for can contain the smallest sphere in this restriction spatial domain, then judgement extrapolate the early warning track points whether the concrete grammar in rule body be:
Spheroid as shown in Figure 3, in three-dimensional coordinate:
The P1 of Z-direction axle, P2 point, wherein, the Z coordinate figure that P1 is ordered is that the Z coordinate figure is minimum in all points of spherome surface, is designated as Z
MinThe Z coordinate figure that P2 is ordered is that the Z coordinate figure is maximum in all points of spherome surface, is designated as Z
Max
Along P3, the P4 point of X coordinate axis, wherein, the X coordinate figure that P3 is ordered is that the X coordinate figure is minimum in all points of spherome surface, is designated as X
MinThe X coordinate figure that P4 is ordered is that the X coordinate figure is maximum in all points of spherome surface, is designated as X
Max
Along P5, the P6 point of Y coordinate axis, wherein, the Y coordinate figure that P5 is ordered is that the Y coordinate figure is minimum in all points of spherome surface, is designated as Y
MinThe Y coordinate figure that P6 is ordered is that the Y coordinate figure is maximum in all points of spherome surface, is designated as Y
Max
Suppose that the three-dimensional coordinate of extrapolation early warning track points is (X
1, Y
1, Z
1), if judge X
1, Y
1, Z
1Satisfy the condition of following formula 1,2,3 simultaneously, confirm that then extrapolation early warning track points is in rule body, promptly in this spheroid:
X
Min≤X
1≤X
Max(formula 1)
Y
Min≤Y
1≤Y
Max(formula 2)
Z
Min≤Z
1≤Z
Max(formula 3)
Above-mentioned X
Min, X
Max, Y
Min, Y
Max, Z
Min, Z
MaxBefore getting into the alarm cycle criterion, can confirm,, needn't when each alarm is judged, recomputate such as confirming when the system initialization.
If rule body is minimum square outside the smallest sphere that contains the restriction spatial domain, that contain this spheroid, then judge extrapolation early warning track points whether the concrete grammar in rule body be:
Limit the X of the smallest sphere in spatial domain for above-mentioned containing
Min, X
Max, Y
Min, Y
Max, Z
Min, Z
Max, as long as the three-dimensional coordinate X of extrapolation early warning track points
1, Y
1, Z
1Can satisfy following formula 4,5, at least one condition shown in 6 in the condition, judge that then extrapolation early warning track points is in rule body, promptly in this square; Otherwise, judge that the extrapolation track points is not in rule body, promptly not in this square.
X
Min≤X
1≤X
Max(formula 4)
Y
Min≤Y
1≤Y
Max(formula 5)
Z
Min≤Z
1≤Z
Max(formula 6)
This shows that judging extrapolation early warning track points, whether to be positioned at the algorithm of rule body very simple, need carry out numeric ratio.And aerial target probability more than 90% is arranged is that its extrapolation early warning track points is positioned at the outer situation of rule body; Therefore; Through this determining step, can make the judgement of not early warning fast for the situation more than 90%, for the early warning of next time or the judgement of alarm save time.
S503: further judge that extrapolation early warning track points is whether in the restriction spatial domain.If, then carry out early warning, finish this time early warning and judge, and carry out alarm determining step S511; Otherwise, confirm not early warning, finish this time early warning and judge, and carry out alarm determining step S511.
How to judge whether extrapolation early warning track points can adopt prior art well-known to those skilled in the art in the restriction spatial domain.Described before for example: draw along the aerial target heading and to establish straight line, whether calculated line exists intersection point with the restriction spatial domain, as has intersection point, then calculates the distance between aerial target and the intersection point; Less than the distance between aerial target and the extrapolation early warning track points, then early warning.
S511: the extrapolation alarm track points of confirming aerial target.
S512: judge that extrapolation alarm track points is whether in rule body.If, execution in step S513; Otherwise, confirm not alarm, finish this time alarm and judge, can begin preparatory/alarm cycle criterion next time, promptly restart execution in step S501.
Judge extrapolation alarm track points whether in the method and above-mentioned steps S502 in rule body, the method in rule body is identical to judge the early warning track points of extrapolating.Concrete:
Limit the X of the smallest sphere in spatial domain for above-mentioned containing
Min, X
Max, Y
Min, Y
Max, Z
Min, Z
Max, suppose that the three-dimensional coordinate of extrapolation alarm track points is (X
2, Y
2, Z
2), if judge X
2, Y
2, Z
2Satisfy the condition of following formula 7,8,9 simultaneously, confirm that then extrapolation alarm track points is in rule body, promptly in this spheroid:
X
Min≤X
2≤X
Max(formula 7)
Y
Min≤Y
2≤Y
Max(formula 8)
Z
Min≤Z
2≤Z
Max(formula 9)
Above-mentioned X
Min, X
Max, Y
Min, Y
Max, Z
Min, Z
MaxBefore getting into the alarm cycle criterion, can confirm,, needn't when each alarm is judged, recomputate such as confirming when the system initialization.
If rule body is minimum square outside the smallest sphere that contains the restriction spatial domain, that contain this spheroid, then judge extrapolation early warning track points whether the concrete grammar in rule body be:
Limit the X of the smallest sphere in spatial domain for above-mentioned containing
Min, X
Max, Y
Min, Y
Max, Z
Min, Z
Max, as long as the three-dimensional coordinate X of extrapolation alarm track points
2, Y
2, Z
2Can satisfy following formula 10,11, at least one condition shown in 12 in the condition, judge that then extrapolation early warning track points is in rule body, promptly in this square; Otherwise, judge that the extrapolation track points is not in rule body, promptly not in this square.
X
Min≤X
2≤X
Max(formula 10)
Y
Min≤Y
2≤Y
Max(formula 11)
Z
Min≤Z
2≤Z
Max(formula 12)
This shows that judging extrapolation alarm track points, whether to be positioned at the algorithm of rule body very simple, need carry out numeric ratio.And aerial target probability more than 90% is arranged is that its extrapolation alarm track points is positioned at the outer situation of rule body; Therefore; Through this determining step, can make the judgement of not alarming fast for the situation more than 90%, for the early warning of next time or the judgement of alarm save time.
S513: judge that extrapolation alarm track points is whether in the restriction spatial domain.If, then alarm, finish this time alarm and judge, beginning preparatory/alarm cycle criterion next time promptly restarts execution in step S501; Otherwise, confirm not alarm, finish this time alarm and judge, beginning preparatory/alarm cycle criterion next time promptly restarts execution in step S501.
How to judge whether extrapolation alarm track points can adopt prior art well-known to those skilled in the art in the restriction spatial domain.Described before for example: draw along the aerial target heading and to establish straight line, whether calculated line exists intersection point with the restriction spatial domain, as has intersection point, then calculates the distance between aerial target and the intersection point; Less than the distance between aerial target and the extrapolation alarm track points, then alarm.
The alarm device that the embodiment of the invention also provides a kind of aerial target to invade the restriction spatial domain, as shown in Figure 6, comprising: warning processing module 601, first judge module 602, second judge module 603.
The extrapolation alarm track points that first judge module 602 is confirmed according to warning processing module 601 judges whether said extrapolation alarm track points is positioned at rule body.Said rule body is the rule body in the said restriction of predetermined containing spatial domain, specifically can be: the smallest sphere in the said restriction of predetermined containing spatial domain; Perhaps, outside the smallest sphere that contains said restriction spatial domain, contain the minimum square of said spheroid.Be positioned at rule body if judge extrapolation alarm track points, first judge module 602 returns not warning information to warning processing module 601; Otherwise first judge module 602 sends to second judge module 603 and continues to judge notice.Judge that method that whether extrapolation alarm track points be positioned at rule body as previously mentioned, repeats no more here.
Whether warning processing module 601 is alarmed according to the information decision of returning.
Further, the alarm device in aerial target intrusion restriction spatial domain also comprises: early warning processing module 604.
Early warning processing module 604 is used for confirming the extrapolation early warning track points of said aerial target.
Early warning processing module 604 determines whether early warning according to the information of returning.
Because the embodiment of the invention is before judging whether extrapolation alarm track points is positioned at the restriction spatial domain; Judge earlier whether extrapolation alarm track points is positioned at a rule body that contains this restriction spatial domain; And whether judgement extrapolation alarm track points is positioned at the calculating process of rule body is very simple, operand is little; Be positioned at the outer situation of rule body for great majority extrapolation alarm track points, can make the decision of not alarming rapidly, shorten the alarm judgement time; Thereby practiced thrift the time for next alarm cycle criterion, improved the promptness of alarm.
Similarly; Judge early warning judgement before for alarm, before judging whether extrapolation early warning track points is positioned at the restriction spatial domain, whether elder generation's judgement extrapolation early warning track points is positioned at a rule body that contains this restriction spatial domain; And whether judgement extrapolation early warning track points is positioned at the calculating process of rule body is very simple, operand is little; Be positioned at the outer situation of rule body for great majority extrapolation early warning track points, can make the decision of not early warning rapidly, shorten the early warning judgement time; Thereby be that the time has been practiced thrift in next alarm or early warning cycle criterion, improve the promptness that alarm obtains early warning.
One of ordinary skill in the art will appreciate that all or part of step that realizes in the foregoing description method is to instruct relevant hardware to accomplish through program; This program can be stored in the computer read/write memory medium, as: ROM/RAM, magnetic disc, CD etc.
The above only is a preferred implementation of the present invention; Should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the principle of the invention; Can also make some improvement and retouching, these improvement and retouching also should be regarded as protection scope of the present invention.
Claims (9)
1. an aerial target is invaded the alarm method that limits the spatial domain, comprising:
Confirm the extrapolation alarm track points of aerial target, said extrapolation alarm track points refer to said aerial target along its heading in the adaptability alarm time the location point that can reach in advance;
Judge whether said extrapolation alarm track points is positioned at rule body, and said rule body is the rule body in the said restriction of predetermined containing spatial domain;
Be positioned at outside the said rule body if judge said extrapolation alarm track points, then confirm not alarm;
Otherwise, judge further whether said extrapolation alarm track points is positioned at said restriction spatial domain; Be positioned at said restriction spatial domain if judge said extrapolation alarm track points, then confirm alarm.
2. the method for claim 1, said definite aerial target in the adaptability alarm time before the location point that can reach in advance, also comprise:
Confirm the extrapolation early warning track points of said aerial target, said extrapolation early warning track points refer to said aerial target in the adaptability pre-warning time the location point that can reach in advance;
Judge whether said extrapolation early warning track points is positioned at rule body;
If judging said extrapolation early warning track points is positioned at outside the said rule body, then confirm not early warning;
Otherwise, judge further whether said extrapolation early warning track points is positioned at said restriction spatial domain; If judging said extrapolation early warning track points is positioned at said restriction spatial domain, then confirm early warning.
3. according to claim 1 or claim 2 method, said rule body is specially spheroid; Said spheroid is for containing the smallest sphere in said restriction spatial domain; Perhaps, said spheroid is the big setting value of radius, the center spheroid identical with the center of said smallest sphere of the said smallest sphere of radius ratio.
4. method as claimed in claim 3, saidly judge whether said extrapolation early warning track points is positioned at rule body and is specially:
If the three-dimensional coordinate X of said extrapolation early warning track points
1, Y
1, Z
1Satisfy like lower inequality simultaneously, judge that then said extrapolation early warning track points is positioned at said rule body; Otherwise, judge that said extrapolation early warning track points is not positioned at said rule body;
X
Min≤X
1≤X
Max(formula 1)
Y
Min≤Y
1≤Y
Max(formula 2)
Z
Min≤Z
1≤Z
Max(formula 3)
X in the above-mentioned formula 1
MaxMaximal value in the X coordinate figure of having a few for the surface of said spheroid, X
MinMinimum value in the X coordinate figure of having a few for the surface of said spheroid;
Y in the above-mentioned formula 2
MaxMaximal value in the Y coordinate figure of having a few for the surface of said spheroid, Y
MinMinimum value in the Y coordinate figure of having a few for the surface of said spheroid;
Z in the above-mentioned formula 3
MaxMaximal value in the Z coordinate figure of having a few for the surface of said spheroid, Z
MinMinimum value in the Z coordinate figure of having a few for the surface of said spheroid;
And, saidly judge whether said extrapolation alarm track points is positioned at rule body and is specially:
If the three-dimensional coordinate X of said extrapolation alarm track points
2, Y
2, Z
2Satisfy with lower inequality simultaneously, judge that then said extrapolation alarm track points is positioned at said rule body; Otherwise, judge that said extrapolation alarm track points is not positioned at said rule body;
X
Min≤X
2≤X
Max(formula 7)
Y
Min≤Y
2≤Y
Max(formula 8)
Z
Min≤Z
2≤Z
Max(formula 9)
X in the above-mentioned formula 7
MaxMaximal value in the X coordinate figure of having a few for the surface of said spheroid, X
MinMinimum value in the X coordinate figure of having a few for the surface of said spheroid;
Y in the above-mentioned formula 8
MaxMaximal value in the Y coordinate figure of having a few for the surface of said spheroid, Y
MinMinimum value in the Y coordinate figure of having a few for the surface of said spheroid;
Z in the above-mentioned formula 9
MaxMaximal value in the Z coordinate figure of having a few for the surface of said spheroid, Z
MinMinimum value in the Z coordinate figure of having a few for the surface of said spheroid.
5. according to claim 1 or claim 2 method, said rule body is specially: outside the smallest sphere that contains said restriction spatial domain, contain the minimum square of said spheroid.
6. method as claimed in claim 5, saidly judge whether said extrapolation early warning track points is positioned at rule body and is specially:
If the three-dimensional coordinate X of said extrapolation early warning track points
1, Y
1, Z
1Satisfy with at least one inequality in the lower inequality, judge that then said extrapolation early warning track points is positioned at said rule body; Otherwise, judge that said extrapolation early warning track points is not positioned at said rule body;
X
Min≤X
1≤X
Max(formula 4)
Y
Min≤Y
1≤Y
Max(formula 5)
Z
Min≤Z
1≤Z
Max(formula 6)
X in the above-mentioned formula 4
MaxMaximal value in the X coordinate figure of having a few for the surface of said spheroid, X
MinMinimum value in the X coordinate figure of having a few for the surface of said spheroid;
Y in the above-mentioned formula 5
MaxMaximal value in the Y coordinate figure of having a few for the surface of said spheroid, Y
MinMinimum value in the Y coordinate figure of having a few for the surface of said spheroid;
Z in the above-mentioned formula 6
MaxMaximal value in the Z coordinate figure of having a few for the surface of said spheroid, Z
MinMinimum value in the Z coordinate figure of having a few for the surface of said spheroid;
And, saidly judge whether said extrapolation alarm track points is positioned at rule body and is specially:
If the three-dimensional coordinate X of said extrapolation alarm track points
2, Y
2, Z
2Satisfy with at least one inequality in the lower inequality, judge that then said extrapolation alarm track points is positioned at said rule body; Otherwise, judge that said extrapolation alarm track points is not positioned at said rule body;
X
Min≤X
2≤X
Max(formula 10)
Y
Min≤Y
2≤Y
Max(formula 11)
Z
Min≤Z
2≤Z
Max(formula 12)
X in the above-mentioned formula 10
MaxMaximal value in the X coordinate figure of having a few for the surface of said spheroid, X
MinMinimum value in the X coordinate figure of having a few for the surface of said spheroid;
Y in the above-mentioned formula 11
MaxMaximal value in the Y coordinate figure of having a few for the surface of said spheroid, Y
MinMinimum value in the Y coordinate figure of having a few for the surface of said spheroid;
Z in the above-mentioned formula 12
MaxMaximal value in the Z coordinate figure of having a few for the surface of said spheroid, Z
MinMinimum value in the Z coordinate figure of having a few for the surface of said spheroid.
7. the alarm device that aerial target is invaded the restriction spatial domain is characterized in that, comprising:
Warning processing module, be used for confirming the extrapolation alarm track points of aerial target, said extrapolation alarm track points refer to said aerial target along its heading in the adaptability alarm time the location point that can reach in advance;
First judge module, track points is alarmed in the extrapolation that is used for confirming according to said warning processing module, judges whether said extrapolation alarm track points is positioned at rule body; If return not warning information to said warning processing module; Otherwise, send and continue to judge notice;
Second judge module, notice is judged in the continuation that is used for sending according to said first judge module, judges whether said extrapolation alarm track points is positioned at said restriction spatial domain; If return warning information to said warning processing module; Otherwise, return not warning information to said warning processing module;
Whether said warning processing module is alarmed according to the information decision of returning.
8. device as claimed in claim 7 is characterized in that, also comprises:
The early warning processing module is used for confirming the extrapolation early warning track points of said aerial target; And,
Said first judge module also is used for the extrapolation early warning track points definite according to said early warning processing module, judges whether said extrapolation early warning track points is positioned at rule body; If return not early warning information to said early warning processing module; Otherwise, send and continue to judge notice;
Notice is judged in the continuation that second judge module also is used for sending according to said first judge module, judges whether said extrapolation early warning track points is positioned at said restriction spatial domain; If return early warning information to said early warning processing module; Otherwise, return not early warning information to said warning processing module;
Said early warning processing module determines whether early warning according to the information of returning.
9. like claim 7 or 8 described devices, it is characterized in that said rule body is specially spheroid; Said spheroid is for containing the smallest sphere in said restriction spatial domain; Perhaps, said spheroid is the big setting value of radius, the center spheroid identical with the center of said smallest sphere of the said smallest sphere of radius ratio; Perhaps,
Said rule body is specially outside the smallest sphere that contains said restriction spatial domain, contains the minimum square of said spheroid.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110436410.7A CN102496312B (en) | 2011-12-22 | 2011-12-22 | Warning method and device for invasion of aerial target in restricted airspace |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110436410.7A CN102496312B (en) | 2011-12-22 | 2011-12-22 | Warning method and device for invasion of aerial target in restricted airspace |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102496312A true CN102496312A (en) | 2012-06-13 |
| CN102496312B CN102496312B (en) | 2014-10-15 |
Family
ID=46188131
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201110436410.7A Active CN102496312B (en) | 2011-12-22 | 2011-12-22 | Warning method and device for invasion of aerial target in restricted airspace |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102496312B (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103903482A (en) * | 2012-12-26 | 2014-07-02 | 上海航空电器有限公司 | Forward-looking forecast warning system in ground proximity warning system and method |
| US9317036B2 (en) | 2014-04-17 | 2016-04-19 | SZ DJI Technology Co., Ltd | Flight control for flight-restricted regions |
| CN105788372A (en) * | 2016-04-11 | 2016-07-20 | 成都民航空管科技发展有限公司 | Method and system for optimization of reducing false alarms of alarms in special area |
| US9412278B1 (en) | 2015-03-31 | 2016-08-09 | SZ DJI Technology Co., Ltd | Authentication systems and methods for generating flight regulations |
| GB2548107A (en) * | 2016-03-07 | 2017-09-13 | Openworks Eng Ltd | Determining whether an object has entered a certain space |
| US9858023B2 (en) | 2015-07-10 | 2018-01-02 | SZ DJI Technology Co., Ltd | Systems and methods for gimbal simulation |
| CN108226915A (en) * | 2017-12-25 | 2018-06-29 | 中国人民解放军63921部队 | A kind of quantitatively characterizing space multiple target spatial distribution method |
| US10147329B2 (en) | 2015-03-31 | 2018-12-04 | SZ DJI Technology Co., Ltd. | Open platform for flight restricted region |
| US11094202B2 (en) | 2015-03-31 | 2021-08-17 | SZ DJI Technology Co., Ltd. | Systems and methods for geo-fencing device communications |
| CN113741517A (en) * | 2021-08-31 | 2021-12-03 | 普宙科技(深圳)有限公司 | Method, system, equipment and storage medium for preventing unmanned aerial vehicle from entering no-fly zone |
| CN114373338A (en) * | 2022-01-11 | 2022-04-19 | 张矟 | Space intrusion detection-based warning method for preventing collision of aircraft in take-off and landing process |
| WO2022141101A1 (en) * | 2020-12-29 | 2022-07-07 | 深圳市大疆创新科技有限公司 | Method and apparatus for controlling removable platform, and removable platform |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5371581A (en) * | 1993-03-08 | 1994-12-06 | Schwartz Electro-Optics, Inc. | Helicopter obstacle warning system |
| WO2001046766A1 (en) * | 1999-12-21 | 2001-06-28 | Lockheed Martin Corporation | Spatial avoidance method and apparatus |
| CN1332854A (en) * | 1998-12-30 | 2002-01-23 | 赫尼威尔股份有限公司 | Close/intra-formation positioning collision avoidance system and method |
| CN101465064A (en) * | 2009-01-15 | 2009-06-24 | 北京航空航天大学 | Method and system for freeing flight collision of terminal zone |
| CN102184646A (en) * | 2011-05-11 | 2011-09-14 | 四川九洲电器集团有限责任公司 | Conflict detection method for aerial target |
-
2011
- 2011-12-22 CN CN201110436410.7A patent/CN102496312B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5371581A (en) * | 1993-03-08 | 1994-12-06 | Schwartz Electro-Optics, Inc. | Helicopter obstacle warning system |
| CN1332854A (en) * | 1998-12-30 | 2002-01-23 | 赫尼威尔股份有限公司 | Close/intra-formation positioning collision avoidance system and method |
| WO2001046766A1 (en) * | 1999-12-21 | 2001-06-28 | Lockheed Martin Corporation | Spatial avoidance method and apparatus |
| CN101465064A (en) * | 2009-01-15 | 2009-06-24 | 北京航空航天大学 | Method and system for freeing flight collision of terminal zone |
| CN102184646A (en) * | 2011-05-11 | 2011-09-14 | 四川九洲电器集团有限责任公司 | Conflict detection method for aerial target |
Cited By (38)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106169261A (en) * | 2012-12-26 | 2016-11-30 | 上海航空电器有限公司 | A kind of alarm territory construction method |
| CN103903482A (en) * | 2012-12-26 | 2014-07-02 | 上海航空电器有限公司 | Forward-looking forecast warning system in ground proximity warning system and method |
| CN103903482B (en) * | 2012-12-26 | 2017-10-17 | 上海航空电器有限公司 | Forward sight predicts alarm method in a kind of ground proximity warning system |
| CN106169261B (en) * | 2012-12-26 | 2018-11-27 | 上海航空电器有限公司 | A kind of alarm domain construction method |
| US11482119B2 (en) | 2014-04-17 | 2022-10-25 | SZ DJI Technology Co., Ltd. | Polygon shaped flight-restriction zones |
| US9483950B2 (en) | 2014-04-17 | 2016-11-01 | SZ DJI Technology Co., Ltd | Flight control for flight-restricted regions |
| US9704408B2 (en) | 2014-04-17 | 2017-07-11 | SZ DJI Technology Co., Ltd | Flight control for flight-restricted regions |
| US11462116B2 (en) | 2014-04-17 | 2022-10-04 | SZ DJI Technology Co., Ltd. | Polygon shaped vehicle restriction zones |
| US11810465B2 (en) | 2014-04-17 | 2023-11-07 | SZ DJI Technology Co., Ltd. | Flight control for flight-restricted regions |
| US9317036B2 (en) | 2014-04-17 | 2016-04-19 | SZ DJI Technology Co., Ltd | Flight control for flight-restricted regions |
| US11227501B2 (en) | 2014-04-17 | 2022-01-18 | SZ DJI Technology Co., Ltd. | Flight control for flight-restricted regions |
| US10909860B2 (en) | 2014-04-17 | 2021-02-02 | SZ DJI Technology Co., Ltd. | Flight control for flight-restricted regions |
| US9842505B2 (en) | 2014-04-17 | 2017-12-12 | SZ DJI Technology Co., Ltd | Flight control for flight-restricted regions |
| US10586463B2 (en) | 2014-04-17 | 2020-03-10 | SZ DJI Technology Co., Ltd. | Polygon shaped flight-restriction zones |
| US9792613B2 (en) | 2015-03-31 | 2017-10-17 | SZ DJI Technology Co., Ltd | Authentication systems and methods for generating flight regulations |
| US11120456B2 (en) | 2015-03-31 | 2021-09-14 | SZ DJI Technology Co., Ltd. | Authentication systems and methods for generating flight regulations |
| US11961093B2 (en) | 2015-03-31 | 2024-04-16 | SZ DJI Technology Co., Ltd. | Authentication systems and methods for generating flight regulations |
| US9870566B2 (en) | 2015-03-31 | 2018-01-16 | SZ DJI Technology Co., Ltd | Authentication systems and methods for generating flight regulations |
| US10147329B2 (en) | 2015-03-31 | 2018-12-04 | SZ DJI Technology Co., Ltd. | Open platform for flight restricted region |
| US11488487B2 (en) | 2015-03-31 | 2022-11-01 | SZ DJI Technology Co., Ltd. | Open platform for flight restricted region |
| US10733895B2 (en) | 2015-03-31 | 2020-08-04 | SZ DJI Technology Co., Ltd. | Open platform for flight restricted region |
| US11482121B2 (en) | 2015-03-31 | 2022-10-25 | SZ DJI Technology Co., Ltd. | Open platform for vehicle restricted region |
| US9805607B2 (en) | 2015-03-31 | 2017-10-31 | SZ DJI Technology Co., Ltd. | Authentication systems and methods for generating flight regulations |
| US9412278B1 (en) | 2015-03-31 | 2016-08-09 | SZ DJI Technology Co., Ltd | Authentication systems and methods for generating flight regulations |
| US11094202B2 (en) | 2015-03-31 | 2021-08-17 | SZ DJI Technology Co., Ltd. | Systems and methods for geo-fencing device communications |
| US11367081B2 (en) | 2015-03-31 | 2022-06-21 | SZ DJI Technology Co., Ltd. | Authentication systems and methods for generating flight regulations |
| US9805372B2 (en) | 2015-03-31 | 2017-10-31 | SZ DJI Technology Co., Ltd | Authentication systems and methods for generating flight regulations |
| US10761798B2 (en) | 2015-07-10 | 2020-09-01 | SZ DJI Technology Co., Ltd. | Systems and methods for gimbal simulation |
| US9858023B2 (en) | 2015-07-10 | 2018-01-02 | SZ DJI Technology Co., Ltd | Systems and methods for gimbal simulation |
| GB2548107B (en) * | 2016-03-07 | 2022-04-13 | Openworks Eng Ltd | Determining whether an object has entered a certain space |
| GB2548107A (en) * | 2016-03-07 | 2017-09-13 | Openworks Eng Ltd | Determining whether an object has entered a certain space |
| CN105788372A (en) * | 2016-04-11 | 2016-07-20 | 成都民航空管科技发展有限公司 | Method and system for optimization of reducing false alarms of alarms in special area |
| CN105788372B (en) * | 2016-04-11 | 2018-10-19 | 成都民航空管科技发展有限公司 | Reduce the optimization method and system of special area alarm false-alarm |
| CN108226915A (en) * | 2017-12-25 | 2018-06-29 | 中国人民解放军63921部队 | A kind of quantitatively characterizing space multiple target spatial distribution method |
| CN108226915B (en) * | 2017-12-25 | 2021-07-30 | 中国人民解放军63921部队 | Quantitative representation space multi-target spatial distribution method |
| WO2022141101A1 (en) * | 2020-12-29 | 2022-07-07 | 深圳市大疆创新科技有限公司 | Method and apparatus for controlling removable platform, and removable platform |
| CN113741517A (en) * | 2021-08-31 | 2021-12-03 | 普宙科技(深圳)有限公司 | Method, system, equipment and storage medium for preventing unmanned aerial vehicle from entering no-fly zone |
| CN114373338A (en) * | 2022-01-11 | 2022-04-19 | 张矟 | Space intrusion detection-based warning method for preventing collision of aircraft in take-off and landing process |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102496312B (en) | 2014-10-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102496312A (en) | Warning method and device for invasion of aerial target in restricted airspace | |
| CN102542848B (en) | Air target short-term conflict warning method and device | |
| US10755491B2 (en) | Electronic device for transmitting relay message to external vehicle and method thereof | |
| US11383735B2 (en) | System and method for dispensing a warning device from an autonomous vehicle | |
| CN111680362B (en) | Automatic driving simulation scene acquisition method, device, equipment and storage medium | |
| US9916763B2 (en) | Visibility event navigation method and system | |
| US10424204B1 (en) | Collision warnings provided by stationary vehicles | |
| US10102760B1 (en) | Maneuver prediction based on audio data | |
| CN108176050B (en) | Path finding method and device | |
| CN106225792A (en) | Communication terminal and grouping navigator, air navigation aid and device | |
| CN112102638A (en) | Signal lamp data display method, device, server, terminal, system and medium | |
| CN111619582B (en) | Processing apparatus and processing method for vehicle, and computer-readable storage medium | |
| CN103903482A (en) | Forward-looking forecast warning system in ground proximity warning system and method | |
| US11727810B2 (en) | Systems and methods for avoiding intersection collisions | |
| WO2021003361A1 (en) | Lidar fault detection system | |
| US20180137779A1 (en) | Control method for UAV flight training and device thereof | |
| CN114120717B (en) | ADS-B anti-collision method based on DO185B standard | |
| CN112257542A (en) | Obstacle sensing method, storage medium, and electronic device | |
| EP3431397A1 (en) | Method and system for rendering and displaying a perspective view of aircraft taxi operation | |
| KR101454102B1 (en) | System and method for air surveillance data processing using ads-b data | |
| CN112393732A (en) | Unmanned aerial vehicle obstacle avoidance method and device, readable storage medium and electronic equipment | |
| US20220092981A1 (en) | Systems and methods for controlling vehicle traffic | |
| CN102496311B (en) | Warning method and device for minimum safe altitude of aerial target | |
| US9818305B2 (en) | Method and apparatus for monitoring compliance with a non-transgression zone between aircraft approach corridors | |
| CN111231952B (en) | Vehicle control method, device and equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C53 | Correction of patent of invention or patent application | ||
| CB02 | Change of applicant information |
Address after: 100089 three floor, No. 33 building, No. 7 West Hospital, north depression, Beijing, Haidian District, China Applicant after: Beijing Dongjin Aerospace Technology Co., Ltd. Address before: 100089 three floor, No. 33 building, No. 7 West Hospital, north depression, Beijing, Haidian District, China Applicant before: Beijing Dj Aero-elec. Tech. Co., Ltd. |
|
| COR | Change of bibliographic data |
Free format text: CORRECT: APPLICANT; FROM: BEIJING DONGJIN RECORDING TECHNOLOGY CO., LTD. TO: BEIJING DONGJIN AEROSPACE TECHNOLOGY CO., LTD. |
|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |