CN106546954A - A kind of deep-sea ultra-short baseline positioning precision method of inspection - Google Patents
A kind of deep-sea ultra-short baseline positioning precision method of inspection Download PDFInfo
- Publication number
- CN106546954A CN106546954A CN201610985417.7A CN201610985417A CN106546954A CN 106546954 A CN106546954 A CN 106546954A CN 201610985417 A CN201610985417 A CN 201610985417A CN 106546954 A CN106546954 A CN 106546954A
- Authority
- CN
- China
- Prior art keywords
- ultra
- short baseline
- beacon
- geodetic coordinates
- positioning precision
- 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.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
- G01S1/72—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using ultrasonic, sonic or infrasonic waves
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention belongs to hydrolocation field, relates generally to a kind of deep-sea ultra-short baseline positioning precision method of inspection.The present invention includes：Distance of the ultra-short baseline acoustic basic matrix between the measurement of different measuring point and beacon, while collecting the gps data of different measuring points；The geodetic coordinates of subsea beacon is calculated using different measuring point gps data and range information；With this geodetic coordinates as basis, according to the geodetic coordinates of ultra-short baseline principle inverse waterborne vessel；The gps data for selecting waterborne vessel forms reference locus；Calculate the geodetic coordinates of waterborne vessel and the beeline of gps data line；Using the beeline of above-mentioned calculating as the positioning precision for weighing ultra short base line.The present invention on the basis of using the resolving beacon position that crosses calculates acoustics basic matrix coordinate using ultra-short baseline positioning principle, obtains computational accuracy with the minimum range between acoustics basic matrix GPS track so as to compare.The method all has wide practical use in terms of target search and rescue and subsea beacon navigation.
Description
Technical field
The invention belongs to hydrolocation field, relates generally to a kind of deep-sea ultra-short baseline positioning precision method of inspection.
Background technology
When ultra short baseline locating system at sea works, Jing often occur due to cannot decision system positioning precision and cause water
The phenomenons such as lower operation failure, field data erroneous judgement.Conventional ultra short baseline locating system does not provide marine accuracy test standard, many
It is the dispersion positioned using subsea beacon evaluating positioning precision.And the present invention is using gps data as standard, can effectively,
The positioning precision of display systems directly perceived.
In the total storehouse CNKI of china academia document Web publishing, the open report relevant with the present patent application that can be retrieved
Mainly include：It is a kind of crossed based on Long baselines ultra short baseline locating system Accuracy Assessment (Acta Physica Sinica/2015 year May/
Han Yunfeng) document gives a kind of ultra-short baseline positioning precision method crossed based on Long baselines.Position is resolved by measuring point
Ultra-short baseline positioning precision is evaluated with ultra-short baseline position.But the method is not the positioning precision for providing single measurement in real time,
But data postpositive disposal method.
For deep-sea ultra-short baseline positioning precision evaluation method, at least 2 points of existing method is not enough：One is conventional method
Positioning precision evaluation method is not clearly given, simply by the statistics of repeatedly measurement fixing point as precision evaluation side
Method, the scale calibration for not having fixation；But the ultra-short baseline positioning precision evaluation method that existing utilization Long baselines cross is to adopt
With the method for postpositive disposal, it is impossible to carry out precision evaluation to real-time measuring point result.
The content of the invention
It is an object of the invention to provide a kind of deep-sea ultra-short baseline positioning precision method of inspection.
What the present invention was realized in：
(1) distance of the ultra-short baseline acoustic basic matrix between the measurement of different measuring point and beacon, while collecting different measuring points
Gps data；
(2) geodetic coordinates of subsea beacon is calculated using different measuring point gps data and range information；
(3) with this geodetic coordinates as basis, according to the geodetic coordinates of ultra-short baseline principle inverse waterborne vessel；
(4) gps data for selecting waterborne vessel forms reference locus；
(5) calculate the beeline of the geodetic coordinates with gps data line of waterborne vessel；
(6) using the beeline of above-mentioned calculating as the positioning precision for weighing ultra short base line.
The method for measuring described beacon position is anchored to seabed for beacon, and position is yG；Periodically sent out with time interval T
Penetrate ping；Ultra-short baseline acoustic basic matrix is installed on waterborne vessel, and high-precision GPS is installed on ship；Ultra-short baseline acoustic base
Battle array detects the acoustical signal of beacon in different point position XGi and carries out distance estimations to which；Calculate with reference to distance and gps data
The geodetic coordinates yG of subsea beacon；According to ultra-short baseline principleCalculate water surface ultra-short baseline battle array
GPS location；The positioning precision of ultra-short baseline is evaluated by the beeline between computation and measurement value xG and gps data track.
Step (1) includes for all measuring points of collection, in known gps data and range information, is crossed original according to sphere
Manage the geodetic coordinates to beacon to resolve, the beacon for obtaining is final geodetic coordinates.
Using the beacon geodetic coordinates as reference value, according to formulaInverse surface measurement
The GPS location of ship, wherein RS G、RA SBoat-carrying attitude transducer and acoustics basic matrix measurement result are with θ.
The beneficial effects of the present invention is：On the basis of using the resolving beacon position that crosses, positioned using ultra-short baseline
Principle calculates acoustics basic matrix coordinate, obtains computational accuracy with the minimum range between acoustics basic matrix GPS track so as to compare.The party
Method all has wide practical use in terms of target search and rescue and subsea beacon navigation.
Description of the drawings
The different measuring points data acquisition schematic diagram of Fig. 1 deep-sea beacons positioning.
Fig. 2 is deep-sea ultra short baseline locating system Accuracy Assessment flowchart.
Specific embodiment
Below in conjunction with the accompanying drawings the present invention is described further：
(1) ultra-short baseline acoustic basic matrix receives beacon signal respectively in different measuring point, measure acoustics basic matrix and beacon it
Between accurate distance；
(2) geodetic coordinates of subsea beacon is accurately calculated using the GPS information and range information of different measuring point；
(3) geodetic coordinates based on this subsea beacon according to ultra-short baseline principle inverse waterborne vessel；
(4) satellite data of the water surface is selected, the point nearest with calculated waterborne vessel geodetic coordinates is found；
(5) minimum range between calculated waterborne vessel geodetic coordinates and the GPS track of surface measurement is obtained, with this
Minimum range is used as the positioning precision for weighing ultra-short baseline single positioning result.
To realize the purpose of the present invention, need beacon to be carried out acoustical signal processing using ultra-short baseline, measure acoustics basic matrix
The distance between with beacon.
To realize the purpose of the present invention, need real-time reception collection gps data, as acoustics basic matrix resolve reference and after
The data foundation of continuous precision evaluation.
To realize the purpose of the present invention, the range information for measuring is needed according to gps data and under the fixed cycle to resolve beacon
Geodetic coordinates.
To realize the purpose of the present invention, need to be calculated according to ultra-short baseline positioning principle based on the geodetic coordinates of beacon
The geodetic coordinates of acoustics basic matrix.
To realize the purpose of the present invention, need to be compared according to the acoustics basic matrix coordinate and gps data track that calculate, count
Minimum range between the two is calculated, the positioning precision of ultra short baseline locating system is drawn.
The ultra-short baseline positioning precision method of inspection in deep-sea according to claim 1 and 2, is characterized in that：It is described to obtain
The method of enough measuring point datas is that surveying vessel is navigated by water with Different Flight, with Fixed Time Interval T collections GPS location simultaneously
Transmitting ping；
It is described the geodetic coordinates for obtaining beacon is resolved according to gps data and range information method be：For the institute of collection
There is measuring point, in known gps data and range information, the geodetic coordinates of beacon is resolved according to the sphere principle that crosses, obtained
The final geodetic coordinates of beacon be：
Using resolve beacon geodetic coordinates as reference value, according to formulaThe inverse water surface is surveyed
The GPS location of amount ship, wherein RSG, RAS and theta are boat-carrying attitude transducer and acoustics basic matrix measurement result.
Using the acoustics basic matrix GPS location of resolving as reference value, the minimum of the distance and gps measurement data track between is calculated
Value, certainty of measurement of the lowest distance value for obtaining as single measurement result.
In the present invention, such as Fig. 1, beacon are anchored to seabed, and position is yG；Believed with time interval T periodic transmission ping
Number；Ultra-short baseline acoustic basic matrix is installed on waterborne vessel, and high-precision GPS is installed on ship；Ultra-short baseline acoustic basic matrix is in difference
Point position XGi detection beacon acoustical signal and distance estimations are carried out to which；Subsea beacon is calculated with reference to distance and gps data
Geodetic coordinates yG；According to ultra-short baseline principleCalculate the GPS location of water surface ultra-short baseline battle array；
The positioning precision of ultra-short baseline is evaluated by comparing measured value xG to the minimum range between GPS track.
Subsea beacon position calculation method
Wherein L is the distance between acoustics basic matrix and beacon.If n times measurement has been carried out altogether in experiment, N number of oblique distance has been obtained
Information L1,L2,…,LN, i ＆ lt measurement can list error equation
Wherein viFor the error term of oblique distance measurement.If calculating initial value to be set the goal is x0,For beacon position
Correction, beacon calculate true value beIn formula, every computing formula is as follows.
li=Si-Li
The equation group of the N number of error equation listed according to observation is
To seek the typewriting coordinate position of beacon, that is, meet VTPV=min, wherein P are that the observation side of each measurement is constituted
Quan Zhen.There is no the true place of point to be located in actual measurement, therefore power battle array is constituted using the prior variance on observation side here, its length of side survey
Accuracy of measurement is σ2.If variance of unit weightThe expression formula for obtaining Quan Zhen isI is N rank unit matrix.
Error equation is solved, the correction for obtaining beacon position is
Ultra-short baseline ranging formula
With reference to current period gps data GPSkWith upper cycle gps data GPSk-1Being calculated GPS track is
f(GPSk,GPSk-1)=AX+BY+C
Single pointing precision formula (is calculatedThe distance between with GPS track)
Claims (4)
1. a kind of deep-sea ultra-short baseline positioning precision method of inspection, it is characterised in that comprise the steps：
(1) distance of the ultra-short baseline acoustic basic matrix between the measurement of different measuring point and beacon, while collecting the GPS of different measuring points
Data；
(2) geodetic coordinates of subsea beacon is calculated using different measuring point gps data and range information；
(3) with this geodetic coordinates as basis, according to the geodetic coordinates of ultra-short baseline principle inverse waterborne vessel；
(4) gps data for selecting waterborne vessel forms reference locus；
(5) calculate the beeline of the geodetic coordinates with gps data line of waterborne vessel；
(6) using the beeline of above-mentioned calculating as the positioning precision for weighing ultra short base line.
2. a kind of deep-sea ultra-short baseline positioning precision method of inspection according to claim 1, is characterized in that：Described in measuring
The method of beacon position is anchored to seabed for beacon, and position is yG；With time interval T periodic transmission ping；It is ultrashort
Baseline acoustic basic matrix is installed on waterborne vessel, and high-precision GPS is installed on ship；Ultra-short baseline acoustic basic matrix is in different measuring point positions
Put the acoustical signal of XGi detection beacons and distance estimations are carried out to which；The earth that subsea beacon is calculated with reference to distance and gps data is sat
Mark yG；According to ultra-short baseline principleCalculate the GPS location of water surface ultra-short baseline battle array；By calculating
Beeline between measured value xG and gps data track is evaluating the positioning precision of ultra-short baseline.
3. a kind of deep-sea ultra-short baseline positioning precision method of inspection according to claim 1, is characterized in that：Step (1) is wrapped
Include for all measuring points of collection, in known gps data and range information, crossed geodetic coordinates of the principle to beacon according to sphere
Resolved, the beacon for obtaining is final geodetic coordinates.
4. a kind of deep-sea ultra-short baseline positioning precision method of inspection according to claim 1 and 2, is characterized in that：With described
Beacon geodetic coordinates as reference value, according to formulaThe GPS location of inverse surface measurement ship, its
Middle RS G、RA SBoat-carrying attitude transducer and acoustics basic matrix measurement result are with θ.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610985417.7A CN106546954A (en) | 2016-11-09 | 2016-11-09 | A kind of deep-sea ultra-short baseline positioning precision method of inspection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610985417.7A CN106546954A (en) | 2016-11-09 | 2016-11-09 | A kind of deep-sea ultra-short baseline positioning precision method of inspection |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106546954A true CN106546954A (en) | 2017-03-29 |
Family
ID=58394871
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610985417.7A Pending CN106546954A (en) | 2016-11-09 | 2016-11-09 | A kind of deep-sea ultra-short baseline positioning precision method of inspection |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106546954A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106959429A (en) * | 2017-04-25 | 2017-07-18 | 中国人民解放军海军工程大学 | The Calibration Method of area navigation under water and system based on many orthogonal signalling |
| CN108562872A (en) * | 2018-03-23 | 2018-09-21 | 淮海工学院 | A kind of method of exceptional value detection when ultra-short baseline under-water acoustic locating calibration |
| CN108801670A (en) * | 2018-04-16 | 2018-11-13 | 浙江瀚陆海洋科技有限公司 | A kind of ultra-short baseline fixing device for the grab bucket of deep-sea TV |
| CN109490927A (en) * | 2018-12-26 | 2019-03-19 | 天津水运工程勘察设计院 | A kind of leveling frame positioning system and its localization method under water |
| CN110261824A (en) * | 2019-07-15 | 2019-09-20 | 交通运输部天津水运工程科学研究所 | A kind of ultra-short baseline calibration system and scaling method based on multi-beacon |
| CN110309581A (en) * | 2019-06-27 | 2019-10-08 | 哈尔滨工程大学 | A kind of underwater subsurface buoy position Synthesis calibration measurement point rapid Optimum layout method |
| CN111025302A (en) * | 2019-12-20 | 2020-04-17 | 中国船舶重工集团公司七五0试验场 | Intelligent shipborne underwater sound positioning device, system and method |
| CN113156369A (en) * | 2021-04-26 | 2021-07-23 | 哈尔滨工程大学 | Marine acoustic phase center calibration method |
| CN114323075A (en) * | 2021-12-30 | 2022-04-12 | 上海埃威航空电子有限公司 | Underwater navigation calibration method and system based on multiple orthogonal signals |
| CN114735143A (en) * | 2022-06-10 | 2022-07-12 | 自然资源部第一海洋研究所 | Water surface and underwater dual-purpose automatic positioning and tracking system and method |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101441267A (en) * | 2008-12-30 | 2009-05-27 | 哈尔滨工程大学 | Three-measuring point high precision alignment calibration method of seabed answering machine absolute location |
| CN102081170A (en) * | 2009-12-01 | 2011-06-01 | 中国石油天然气集团公司 | Submarine cable secondary positioning method based on integrated positioning of acoustic long baseline and ultrashort baseline |
| CN103925904A (en) * | 2014-04-15 | 2014-07-16 | 哈尔滨工程大学 | Ultra short base line installation angle offset unbiased estimation method based on symmetric measuring line |
| GB2524040A (en) * | 2014-03-12 | 2015-09-16 | Sonardyne Internat Ltd | Aquatic time synchronisation system and method of determining a time offset |
-
2016
- 2016-11-09 CN CN201610985417.7A patent/CN106546954A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101441267A (en) * | 2008-12-30 | 2009-05-27 | 哈尔滨工程大学 | Three-measuring point high precision alignment calibration method of seabed answering machine absolute location |
| CN102081170A (en) * | 2009-12-01 | 2011-06-01 | 中国石油天然气集团公司 | Submarine cable secondary positioning method based on integrated positioning of acoustic long baseline and ultrashort baseline |
| GB2524040A (en) * | 2014-03-12 | 2015-09-16 | Sonardyne Internat Ltd | Aquatic time synchronisation system and method of determining a time offset |
| CN103925904A (en) * | 2014-04-15 | 2014-07-16 | 哈尔滨工程大学 | Ultra short base line installation angle offset unbiased estimation method based on symmetric measuring line |
Non-Patent Citations (1)
| Title |
|---|
| 韩云峰 等: "一种基于长基线交汇的超短基线定位系统精度评价方法", 《物理学报》 * |
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106959429A (en) * | 2017-04-25 | 2017-07-18 | 中国人民解放军海军工程大学 | The Calibration Method of area navigation under water and system based on many orthogonal signalling |
| CN108562872A (en) * | 2018-03-23 | 2018-09-21 | 淮海工学院 | A kind of method of exceptional value detection when ultra-short baseline under-water acoustic locating calibration |
| CN108562872B (en) * | 2018-03-23 | 2020-06-16 | 淮海工学院 | Method for detecting abnormal value during ultra-short baseline underwater acoustic positioning calibration |
| CN108801670A (en) * | 2018-04-16 | 2018-11-13 | 浙江瀚陆海洋科技有限公司 | A kind of ultra-short baseline fixing device for the grab bucket of deep-sea TV |
| CN108801670B (en) * | 2018-04-16 | 2020-11-13 | 浙江瀚陆海洋科技有限公司 | Ultrashort baseline fixing device for deep-sea television grab bucket |
| CN109490927A (en) * | 2018-12-26 | 2019-03-19 | 天津水运工程勘察设计院 | A kind of leveling frame positioning system and its localization method under water |
| CN109490927B (en) * | 2018-12-26 | 2024-04-09 | 天津水运工程勘察设计院 | Positioning system and positioning method for underwater leveling frame |
| CN110309581B (en) * | 2019-06-27 | 2022-11-01 | 哈尔滨工程大学 | Rapid optimization layout method for comprehensive calibration measuring points of underwater submerged buoy position |
| CN110309581A (en) * | 2019-06-27 | 2019-10-08 | 哈尔滨工程大学 | A kind of underwater subsurface buoy position Synthesis calibration measurement point rapid Optimum layout method |
| CN110261824A (en) * | 2019-07-15 | 2019-09-20 | 交通运输部天津水运工程科学研究所 | A kind of ultra-short baseline calibration system and scaling method based on multi-beacon |
| CN110261824B (en) * | 2019-07-15 | 2024-03-19 | 交通运输部天津水运工程科学研究所 | Ultrashort baseline calibration system and calibration method based on multiple beacons |
| CN111025302B (en) * | 2019-12-20 | 2024-01-23 | 中国船舶重工集团公司七五0试验场 | Intelligent shipborne underwater sound positioning device, system and positioning method |
| CN111025302A (en) * | 2019-12-20 | 2020-04-17 | 中国船舶重工集团公司七五0试验场 | Intelligent shipborne underwater sound positioning device, system and method |
| CN113156369B (en) * | 2021-04-26 | 2021-10-29 | 哈尔滨工程大学 | Marine acoustic phase center calibration method |
| CN113156369A (en) * | 2021-04-26 | 2021-07-23 | 哈尔滨工程大学 | Marine acoustic phase center calibration method |
| CN114323075A (en) * | 2021-12-30 | 2022-04-12 | 上海埃威航空电子有限公司 | Underwater navigation calibration method and system based on multiple orthogonal signals |
| CN114735143A (en) * | 2022-06-10 | 2022-07-12 | 自然资源部第一海洋研究所 | Water surface and underwater dual-purpose automatic positioning and tracking system and method |
| CN114735143B (en) * | 2022-06-10 | 2022-08-30 | 自然资源部第一海洋研究所 | Water surface and underwater dual-purpose automatic positioning and tracking system and method |
| US11829132B1 (en) | 2022-06-10 | 2023-11-28 | First Institute of Oceanography, Ministry of Natural Resources | Water surface and underwater dual-purpose automatic positioning and tracking system and method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106546954A (en) | A kind of deep-sea ultra-short baseline positioning precision method of inspection | |
| CN102565834B (en) | A kind of single-frequency GPS direction-finding system and DF and location method thereof | |
| Zhao et al. | Investigation on underwater positioning stochastic model based on acoustic ray incidence angle | |
| Chadwell et al. | Acoustic ray-trace equations for seafloor geodesy | |
| Chen et al. | Improving GNSS-acoustic positioning by optimizing the ship’s track lines and observation combinations | |
| CN107664758B (en) | Deep sea navigation positioning system and method based on long baseline or ultra-short baseline networking | |
| CN109358350B (en) | Beidou three-frequency cycle slip detection method and device | |
| CN111751856B (en) | Accurate positioning method for submarine ground reference point based on PPP technology | |
| CN105571636B (en) | One kind is used to position mesh calibration method and measuring apparatus | |
| CN109085655A (en) | A kind of underwater platform gravity measurement scheme and verification method | |
| Wing et al. | Vertical measurement accuracy and reliability of mapping-grade GPS receivers | |
| CN111220146B (en) | Underwater terrain matching and positioning method based on Gaussian process regression learning | |
| Wang et al. | Real-time stochastic model for precise underwater positioning | |
| André et al. | Measuring sea level with GPS-equipped buoys: A multi-instruments experiment at Aix Island | |
| CN101266153B (en) | Mapping engineering top total station accuracy assessment method | |
| CN109212598A (en) | Three-dimensional space secondary localization method based on direct wave inverting | |
| Chen et al. | Accuracy assessment of GPS/Acoustic positioning using a seafloor acoustic transponder system | |
| CN109977499B (en) | Beidou three-frequency/static level meter cable-stayed bridge monitoring method based on position constraint | |
| CN109783846B (en) | GNSS ocean buoy-based sea level measurement uncertainty evaluation method | |
| CN104199056A (en) | Positioning detector | |
| NO20121041A1 (en) | Method for determining the position of a detector located on the seabed | |
| Byrnes et al. | Quantifying potential measurement errors and uncertainties associated with bathymetric change analysis | |
| CN106595472B (en) | The precision of Digital Photogrammetric System determines method | |
| CN104360335A (en) | Ionized layer parametric inversion method based on AIS target indication | |
| JP2009175134A (en) | Navigation system with apparatus for detecting accuracy failure |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170329 |