CN104407361A - Satellite searching method and receiver - Google Patents
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Abstract
Description
技术领域 technical field
本申请涉及卫星导航定位领域,尤其涉及卫星搜索方法及接收机。 The application relates to the field of satellite navigation and positioning, in particular to a satellite search method and a receiver. the
背景技术 Background technique
随着卫星定位导航技术的发展,对于接收机的搜索速度和搜索效率的要求越来越高。尤其,目前多种全球导航卫星系统(例如,美国的GPS全球定位系统,中国的北斗系统,欧洲的伽利略系统,俄罗斯的全球导航卫星系统等)的快速发展,更要求接收机能够利用扩大的联合星群来提高定位精度和可用性。但是,扩大的联合星群也意味着接收机搜索卫星信号的复杂度变大,限制了接收机的定位速度。 With the development of satellite positioning and navigation technology, the requirements for the search speed and search efficiency of the receiver are getting higher and higher. In particular, the current rapid development of various global navigation satellite systems (for example, the GPS global positioning system of the United States, the Beidou system of China, the Galileo system of Europe, the global navigation satellite system of Russia, etc.), requires the receiver to be able to utilize the expanded joint Constellation to improve positioning accuracy and availability. However, the expanded joint constellation also means that the complexity of the receiver's search for satellite signals increases, which limits the positioning speed of the receiver. the
为提高定位速度,Kun-Tso Chen提出了一种动态卫星搜索算法。该算法依据接收机每次搜索卫星的结果,利用时空格子集计算卫星的平均可见度,动态调整接下来搜索卫星的顺序。仅利用卫星的平均可见度来调整卫星的搜索顺序,并不能够满足对接收机搜索效率的要求。例如,Chen的算法浪费了先验信息。此外,Chen的算法不具备抗遮挡能力,当接收机因地面障碍物遮挡而尝试捕获卫星失败后,将导致“连锁错误”的发生,造成算法的性能恶化。 In order to improve the positioning speed, Kun-Tso Chen proposed a dynamic satellite search algorithm. According to the results of each satellite search by the receiver, the algorithm uses the space-time subset to calculate the average visibility of the satellites, and dynamically adjusts the order of the next search satellites. Only using the average visibility of satellites to adjust the search sequence of satellites cannot meet the requirements of receiver search efficiency. For example, Chen's algorithm wastes prior information. In addition, Chen's algorithm does not have the ability to resist occlusion. When the receiver fails to capture satellites due to ground obstacles, it will lead to "chain errors" and cause the performance of the algorithm to deteriorate. the
发明内容 Contents of the invention
本申请的目的是提供一种卫星搜索方法及接收机,能够确定卫星搜索顺序,提高卫星搜索效率。 The purpose of this application is to provide a satellite search method and receiver, which can determine the order of satellite search and improve the efficiency of satellite search. the
根据本申请的一个方面,公开了一种卫星搜索方法,在该方法中,根据卫星相对于时空格子集合的加权平均可见度搜索卫星,其中,所述加权平均可见度的权值根据时空位置信息确定。 According to one aspect of the present application, a satellite search method is disclosed. In the method, the satellite is searched according to the weighted average visibility of the satellite relative to the set of space-time grids, wherein the weight of the weighted average visibility is determined according to the space-time position information. the
根据本申请的另一个方面,公开了一种接收机,所述接收机包括:处理器,根据时空位置信息确定用于计算卫星相对于时空格子集合的加 权平均可见度的权值,并根据所述权值确定所述加权平均可见度;以及卫星搜索器,根据确定的加权平均可见度搜索卫星。 According to another aspect of the present application, a receiver is disclosed. The receiver includes: a processor that determines a weighted value for calculating the weighted average visibility of a satellite relative to a set of space-time grids according to the space-time position information, and according to the The weighted value determines the weighted average visibility; and a satellite searcher searches for satellites according to the determined weighted average visibility. the
通过本申请公开的卫星搜索方法和接收机,能够根据卫星的加权可见度确定卫星的搜索顺序,提高了捕获的命中率,从而进一步提高卫星搜索效率。 Through the satellite search method and receiver disclosed in the present application, the satellite search order can be determined according to the weighted visibility of the satellites, which improves the hit rate of capture, thereby further improving the efficiency of satellite search. the
附图说明 Description of drawings
图1显示了根据本申请的一种实施方式的卫星搜索方法流程图。 Fig. 1 shows a flowchart of a satellite search method according to an embodiment of the present application. the
图2显示了根据本申请的一种实施方式的接收机的示意图。 Fig. 2 shows a schematic diagram of a receiver according to an embodiment of the present application. the
图3显示了根据本申请的另一种实施方式的接收机的示意图。 Fig. 3 shows a schematic diagram of a receiver according to another embodiment of the present application. the
图4显示了根据本申请的一种具体应用场景下的卫星搜索方法流程图。 Fig. 4 shows a flowchart of a satellite search method in a specific application scenario according to the present application. the
具体实施方式 Detailed ways
下面参照附图对本申请公开的卫星搜索方法进行详细说明。为简明起见,本申请各实施例的说明中,相同或类似的装置使用了相同或相似的附图标记。 The satellite search method disclosed in the present application will be described in detail below with reference to the accompanying drawings. For the sake of brevity, in the descriptions of the embodiments of the present application, the same or similar devices use the same or similar reference numerals. the
图1显示了根据本申请的一种实施方式的卫星搜索方法的流程图。如图所示,在步骤110中,根据时空位置信息,确定用于计算卫星相对于时空格子集合的加权平均可见度的权值;在步骤120中,根据确定的权值,确定加权平均可见度;在步骤130中,根据确定的加权平均可见度,搜索卫星。这样,可以根据加权平均可见度来确定搜索卫星的搜索顺序,或者搜索优先级。 Fig. 1 shows a flowchart of a satellite search method according to an embodiment of the present application. As shown in the figure, in step 110, according to the space-time position information, determine the weight for calculating the weighted average visibility of the satellite relative to the space-time grid set; in step 120, determine the weighted average visibility according to the determined weight; In step 130, satellites are searched based on the determined weighted average visibility. In this way, the search sequence or search priority for searching satellites can be determined according to the weighted average visibility. the
在一个实施例中,时空位置信息可以是接收机位于时空格子集合中某个时空格子的可能性,即,接收机位于该时空格子的置信度。 In one embodiment, the spatio-temporal location information may be the possibility that the receiver is located in a certain spatio-temporal cell in the set of spatio-temporal cells, that is, the confidence level that the receiver is located in the spatio-temporal cell. the
这样,将时空位置信息,例如接收机位于时空格子的置信度,作为权值,来确定加权的卫星平均可见度,并据此确定卫星的搜索顺序,可提高捕获的命中率,从而提高卫星搜索效率。 In this way, the space-time position information, such as the confidence of the receiver in the space-time grid, is used as a weight to determine the weighted average visibility of satellites, and accordingly determine the search order of satellites, which can improve the hit rate of capture, thereby improving the efficiency of satellite search . the
在卫星导航定位时,接收机将搜索卫星群中的卫星。通常,首次定 位前,接收机所处的时间和空间是未知的,但是它们的取值都有一定的范围。比如,空间范围可以是整个地球表面。时间范围可以是接收机自带时钟附近的范围,例如,接收机时钟前后各一个小时之内。可以将这些时间和空间划分成时间格子和空间格子,并映射为时空格子集{G}。时空格子集合{G}中的每一个时空格子对应于某个时间划分和空间划分。 During a satellite navigation fix, the receiver searches for satellites in the satellite constellation. Usually, before the first positioning, the time and space where the receiver is located are unknown, but their values have a certain range. For example, the spatial extent may be the entire Earth's surface. The time range may be a range near the clock of the receiver, for example, within one hour before and after the clock of the receiver. These time and spaces can be divided into time grids and space grids, and mapped to space-time subsets {G}. Each spatio-temporal cell in the spatio-temporal cell set {G} corresponds to a certain time division and space division. the
由于卫星群中各卫星的运行方式和轨道已知,对于接收机待搜索卫星中的每一颗卫星,可以确定该卫星对于某个时空格子是否可见。例如,可以根据该卫星的轨道位置和取定的时空格子,计算出该轨道位置对于该空间格子的仰角,根据仰角值则判定该卫星是否可见,例如,可以用可见度为1表示该卫星对该时空格子可见,可见度为0表示该卫星对该时空格子不可见。遍历待搜索的卫星列表{S}和时空格子集合{G},便可得到与时空格子集相应的卫星可见度,例如,可以记为可见度矩阵V,可见度矩阵V不随搜索次数的变化而变化。 Since the operation mode and orbit of each satellite in the satellite group are known, for each satellite among the satellites to be searched by the receiver, it can be determined whether the satellite is visible to a certain space-time grid. For example, the elevation angle of the orbital position to the spatial grid can be calculated according to the orbital position of the satellite and the determined space-time grid, and whether the satellite is visible can be determined according to the elevation value. For example, the visibility of the satellite can be 1 to indicate that the satellite is The space-time grid is visible, and a visibility of 0 means that the satellite is invisible to the space-time grid. By traversing the list of satellites to be searched {S} and the set of space-time grids {G}, the satellite visibility corresponding to the space-time grid can be obtained. For example, it can be recorded as the visibility matrix V, which does not change with the number of searches. the
对于时空格子集,接收机位于时空格子集中任意时空格子的可能性并不相同,将其称为接收机位于时空格子集中每一个时空格子的置信度。可以将接收机处于时空格子集的可能性通过置信度矩阵C表示,当接收机位于某个时空格子的可能性越高时,置信度矩阵C中对应该时空格子的元素值越大。通过接收机位于时空格子集中每一个时空格子的置信度以及卫星可见度,确定待搜索卫星的搜索优选级。这样,对置信度高的格子可见的卫星,其卫星平均可见度被“拔高”了,对置信度高的格子不可见的卫星,其卫星平均可见度被“压低”了。因此,可以获得合理的卫星搜索顺序,提高卫星搜索效率。 For a space-time subset, the probability that the receiver is located in any space-time cell in the space-time subset is not the same, which is called the confidence that the receiver is located in each space-time cell in the space-time subset. The possibility that the receiver is in a space-time subset can be represented by a confidence matrix C. When the possibility of the receiver being located in a certain space-time cell is higher, the value of the element in the confidence matrix C corresponding to the space-time cell is larger. The search priority of the satellite to be searched is determined by the confidence of the receiver being located in each space-time grid in the space-time grid and the visibility of the satellite. In this way, the average satellite visibility of satellites visible to grids with high confidence is "raised", and the average visibility of satellites invisible to grids with high confidence is "depressed". Therefore, a reasonable satellite search sequence can be obtained, and the satellite search efficiency can be improved. the
根据本申请的一种实施方式,可以根据是否搜索到卫星与该卫星的可见度之间的匹配关系、以及卫星遮挡概率,对置信度进行调整,根据调整后的置信度更新卫星相对于时空格子集合的加权平均可见度,并进一步根据更新后的加权平均可见度搜索卫星。 According to an embodiment of the present application, the confidence can be adjusted according to whether the matching relationship between the satellite and the visibility of the satellite is found, and the probability of satellite occlusion, and the satellite relative to the space-time grid can be updated according to the adjusted confidence. The weighted average visibility of , and further search for satellites based on the updated weighted average visibility. the
在进行第i次卫星搜索后,通过以下方式更新卫星s在时空格子集合{G}<i>中的加权平均可见度 After the i-th satellite search, the weighted average visibility of satellite s in the set of spatiotemporal grids {G} <i> is updated by
其中,{G}<i>表示进行了第i次搜索后的时空格子集合,Gt,p为时空格子集合中的元素,表示时间维度上第t个、空间维度上第p个格点所映射形成的时空格子;{S}<i>表示第i次搜索后剩下的待搜索卫星的集合;Vt,p,s为可见度矩阵V中的元素,取值为0(不可见)或1(可见),表示编号为s的卫星对于时空格子Gt,p的可见度;C<i> t,p为置信度矩阵C<i>的元素,表示第i次搜索之后接收机位于时空格子Gt,p的可能性;∑()表示求和函数,Avg()表示求平均函数。 Among them, {G} <i> represents the set of space-time grids after the i-th search, and G t, p is the element in the set of space-time grids, which means that the t-th grid point in the time dimension and the p-th grid point in the space dimension The space-time grid formed by the mapping; {S} <i> indicates the set of remaining satellites to be searched after the i-th search; V t, p, s are the elements in the visibility matrix V, and the value is 0 (invisible) or 1 (visible), indicating the visibility of the satellite numbered s to the space-time grid G t,p ; C <i> t,p is the element of the confidence matrix C <i> , indicating that the receiver is located in the space-time grid after the i-th search G t, the possibility of p ; ∑ () represents the summation function, and Avg () represents the averaging function.
获得待搜索卫星的集合中每颗卫星的加权平均可见度后,可以将加权平均可见度最高的卫星作为下一次待搜索的卫星: After obtaining the weighted average visibility of each satellite in the set of satellites to be searched, the satellite with the highest weighted average visibility can be used as the next satellite to be searched:
其中s<i+1> search是第i+1次搜索时要搜索的卫星的编号,表示以s为参数,使值最大的s值。 Where s <i+1> search is the number of the satellite to be searched in the i+1th search, Indicates that s is used as a parameter, so that The s-value with the largest value.
卫星的搜索结果除受到卫星可见度的影响外,还有可能受到接收机所处位置的遮挡情况的影响。根据本申请的实施方式,可以设定卫星的遮挡概率e,并根据卫星的搜索结果和卫星的遮挡概率e来更新接收机位于时空格子集上每个时空格子的置信度。 In addition to being affected by satellite visibility, satellite search results may also be affected by the occlusion of the receiver's location. According to the embodiment of the present application, the occlusion probability e of the satellite can be set, and the confidence of the receiver being located in each space-time grid on the space-time subset can be updated according to the search result of the satellite and the occlusion probability e of the satellite. the
卫星的遮挡概率e可以设定为固定值。例如,可以统计可能的平均遮挡概率,并通过平均遮挡概率来计算时空格子的置信度。或者,可以根据用户经验设定固定的遮挡概率。卫星的遮挡概率e也可以根据时空格子因素设定。可以认为,每一颗卫星相对于每一个时空格子的仰角是确定的。仰角越大,则对处于该时空格子中的接收机这颗卫星被遮挡的概率越小;反之,被遮挡的概率就越大。因此,可以对每一颗卫星针对时空格子集中的每一个时空格子设置遮挡概率。卫星的遮挡概率e还可以根据接收机所处的环境因素设定。例如,接收机所处地形、地貌将影响卫星遮挡概率。空旷地区的遮挡概率比较小;城市峡谷(如高层建筑物比较密集的地方)的遮挡概率比较大。 The occlusion probability e of the satellite can be set as a fixed value. For example, the possible average occlusion probability can be counted, and the confidence of the space-time grid can be calculated by the average occlusion probability. Alternatively, a fixed occlusion probability can be set according to user experience. The occlusion probability e of the satellite can also be set according to the space-time grid factor. It can be considered that the elevation angle of each satellite relative to each space-time grid is determined. The larger the elevation angle, the smaller the probability of the satellite being blocked for the receiver in the space-time grid; otherwise, the higher the probability of being blocked. Therefore, the occlusion probability can be set for each satellite for each space-time grid in the space-time grid set. The occlusion probability e of the satellite can also be set according to the environmental factors where the receiver is located. For example, the terrain and landform where the receiver is located will affect the probability of satellite occlusion. The occlusion probability in open areas is relatively small; the occlusion probability in urban canyons (such as places with dense high-rise buildings) is relatively high. the
在一种实施方式中,根据卫星的搜索结果和卫星的遮挡概率e来更新接收机位于时空格子集上每个时空格子的置信度的方法包括: In one embodiment, the method for updating the confidence of the receiver in each space-time grid on the space-time subset according to the search result of the satellite and the occlusion probability e of the satellite includes:
当第i+1次,卫星的搜索结果s<i+1> search为搜索成功时, When the i+1th time, the satellite search result s <i+1> search is successful,
其中,e为卫星遮挡概率;表示编号为s<i+1> search的卫星对于时空格子Gt,p的可见度。 Among them, e is the probability of satellite occlusion; Indicates the visibility of the satellite numbered s <i+1> search for the space-time grid G t,p .
这样,若搜索到卫星,且相应时空格子对该卫星的可见性为1,则将该时空格子对应的置信度乘以该卫星未被遮挡的概率;若搜索到卫星,且相应时空格子对该卫星的可见性为0,则将该时空格子对应的置信度设为0。 In this way, if a satellite is searched, and the visibility of the corresponding space-time grid to the satellite is 1, the confidence corresponding to the space-time grid is multiplied by the probability that the satellite is not blocked; If the visibility of the satellite is 0, then the confidence corresponding to the space-time grid is set to 0. the
当第i+1次卫星的搜索结果s<i+1> search为搜索失败时, When the search result s <i+1> search of the i+1th satellite is a search failure,
这样,若未搜索到卫星,且相应时空格子对该卫星的可见性为1,则该时空格子对应的置信度乘以该卫星的卫星遮挡概率;若未搜索到卫星,且相应时空格子对该卫星的可见性为0,则维持该时空格子对应的置信度不变。 In this way, if no satellite is found and the visibility of the corresponding space-time grid is 1, the confidence corresponding to the space-time grid is multiplied by the satellite occlusion probability of the satellite; If the visibility of the satellite is 0, the confidence corresponding to the space-time grid remains unchanged. the
根据本实施方式,不会因捕获某颗卫星信号失败这一结果而将所有不匹配这个捕获结果的时空格子剔除,而是降低这些时空格子的置信度。对于与捕获结果匹配的时空格子,将升高它的置信度。如果的确是因为发生了遮挡造成了捕获失败,从而某些时空格子的置信度被降低,只要置信度不为0,在下一轮搜索中,该格子还有机会重新获得较高置信度。虽然遮挡是不可预知的,但遮挡造成的后果是可以纠正的。从而避免了当接收机因地面障碍物遮挡而尝试捕获卫星失败后所导致的“连锁错误”。 According to this embodiment, all space-time cells that do not match the capture result will not be eliminated due to the result of failure to capture a certain satellite signal, but the confidence of these space-time cells will be reduced. Confidence is raised for spatiotemporal bins that match captures. If it is indeed because of occlusion that the capture fails, and the confidence of some space-time grids is reduced, as long as the confidence is not 0, in the next round of search, the grid has a chance to regain a higher confidence. Although occlusion is unpredictable, the consequences of occlusion are correctable. This avoids the "chain error" caused when the receiver fails to acquire satellites due to ground obstacles. the
根据一种实施方式,可以根据调整后的置信度更新时空格子集合,例如,将置信度为0的时空格子从时空格子集合中删除: According to one embodiment, the set of spatio-temporal grids can be updated according to the adjusted confidence, for example, the spatio-temporal grid whose confidence is 0 is deleted from the set of spatio-temporal grids:
{G}<i+1>={Gt,p|Gt,p∈{G}<i>,C<i> t,p≠0}, {G} <i+1> = {G t,p |G t,p ∈ {G} <i> ,C <i> t,p ≠0},
这样,可以缩小时空格子集合,从而降低计算量。 In this way, the set of space-time grids can be reduced, thereby reducing the amount of computation. the
根据本申请的一种实施方式,可以从待搜索卫星的集合中删除已搜索卫星。也就是说,将不再搜索已经搜索过的卫星。此外,当搜索到的卫星数量满足要求时,则停止卫星搜索。 According to an embodiment of the present application, the searched satellites may be deleted from the set of satellites to be searched. That is, satellites that have already been searched will no longer be searched. In addition, when the number of searched satellites meets the requirements, the satellite search is stopped. the
根据本申请的一种实施方式,置信度的初始值根据接收机的先验时间和空间信息确定。例如,接收机对自己的位置和时间有一定先验的了解,比如接收机目前所处的位置很可能就在上次定位位置的附近,从而提高先验空间信息。接收机的时钟也能够提供先验时间信息。 According to an embodiment of the present application, the initial value of the confidence level is determined according to the priori time and space information of the receiver. For example, the receiver has a certain prior knowledge of its own position and time, for example, the current position of the receiver is likely to be near the last positioning position, thereby improving the prior spatial information. The receiver's clock can also provide a priori time information. the
图2显示了根据本申请的一种实施方式的接收机200的示意图。接收机200接收和处理卫星信号以实现接收机的定位和导航。通常,接收机200通过天线201接收所有可见卫星的射频信号。该射频信号经前置滤波器202和前置放大器203放大后,进入下变频器204。下变频器204利用频率合成器205合成的信号混合频率对放大后的射频信号进行下变频得到中频信号或基带信号。其中,频率合成器205合成信号混合频率所需的参考时钟信号由振荡器206提供。下变频得到的中频信号或基带信号经过A/D转换器207从模拟信号转变为数字信号。上述过程可以视为接收机射频模块210的主要功能。射频模块210进行射频信号处理后得到的数字信号一般包含多颗卫星的信号,而包含哪些卫星信号是未知的。根据本申请的接收机能够确定搜索顺序,高效搜索卫星。 Fig. 2 shows a schematic diagram of a receiver 200 according to an embodiment of the present application. The receiver 200 receives and processes satellite signals to enable positioning and navigation of the receiver. Generally, the receiver 200 receives radio frequency signals of all visible satellites through the antenna 201 . The radio frequency signal enters the down converter 204 after being amplified by the pre-filter 202 and the pre-amplifier 203 . The down-converter 204 uses the signal mixing frequency synthesized by the frequency synthesizer 205 to down-convert the amplified radio frequency signal to obtain an intermediate frequency signal or a baseband signal. Wherein, the reference clock signal required by the frequency synthesizer 205 to synthesize the signal mixing frequency is provided by the oscillator 206 . The down-converted intermediate frequency signal or baseband signal is converted from an analog signal to a digital signal through the A/D converter 207 . The above process can be regarded as the main function of the radio frequency module 210 of the receiver. The digital signal obtained after the radio frequency signal processing by the radio frequency module 210 generally includes signals of multiple satellites, but it is unknown which satellite signals are included. The receiver according to the present application is able to determine the search order and efficiently search for satellites. the
根据本申请的实施方式,接收机200包括处理器220和卫星搜索器230。处理器220可根据时空位置信息确定权值,并根据该权值来确定加权平均可见度,从而确定搜索优选级。卫星搜索器230可根据确定的加权平均可见度来搜索卫星。 According to an embodiment of the present application, the receiver 200 includes a processor 220 and a satellite searcher 230 . The processor 220 may determine a weighted value according to the spatio-temporal location information, and determine a weighted average visibility according to the weighted value, so as to determine a search priority. The satellite searcher 230 may search for satellites according to the determined weighted average visibility. the
在一个实施例中,时空位置信息可以是接收机位于时空格子集合中某个时空格子的可能性,即,接收机位于该时空格子的置信度。 In one embodiment, the spatio-temporal location information may be the possibility that the receiver is located in a certain spatio-temporal cell in the set of spatio-temporal cells, that is, the confidence level that the receiver is located in the spatio-temporal cell. the
根据本申请的一种实施方式,处理器220可根据是否搜索到卫星与该卫星的可见度之间的匹配关系、以及卫星遮挡概率,对置信度进行调整,根据调整后的置信度更新卫星相对于时空格子集合的加权平均可见度,并进一步根据更新后的加权平均可见度搜索卫星,以实现卫星动态搜索。 According to an embodiment of the present application, the processor 220 can adjust the confidence level according to whether the matching relationship between the satellite and the visibility of the satellite is found, and the probability of satellite occlusion, and update the relative position of the satellite according to the adjusted confidence level. The weighted average visibility of the space-time grid set, and further search satellites according to the updated weighted average visibility, so as to realize the dynamic search of satellites. the
根据一种实施方式,如图3所示,处理器220可以包括可见度计算模块221。在进行第i次卫星搜索后,可见度计算模块221通过以下方式更新卫星s在时空格子集合{G}<i>中的加权平均可见度 According to an implementation manner, as shown in FIG. 3 , the processor 220 may include a visibility calculation module 221 . After the i-th satellite search, the visibility calculation module 221 updates the weighted average visibility of the satellite s in the space-time grid set {G} <i> in the following way
其中,{G}<i>表示进行了第i次搜索后的时空格子集合,Gt,p为时空格子集合中的元素,表示时间维度上第t个、空间维度上第p个格点所映射形成的时空格子;{S}<i>表示第i次搜索后剩下的待搜索卫星的集合;Vt,p,s为可见度矩阵V中的元素,取值为0(不可见)或1(可见),表示编号为s的卫星对于时空格子Gt,p的可见度;C<i> t,p为置信度矩阵C<i>的元素,表示第i次搜索之后接收机位于时空格子Gt,p的可能性;∑()表示求和函数,Avg()表示求平均函数。 Among them, {G} <i> represents the set of space-time grids after the i-th search, and G t, p is the element in the set of space-time grids, which means that the t-th grid point in the time dimension and the p-th grid point in the space dimension The space-time grid formed by the mapping; {S} <i> indicates the set of remaining satellites to be searched after the i-th search; V t, p, s are the elements in the visibility matrix V, and the value is 0 (invisible) or 1 (visible), indicating the visibility of the satellite numbered s to the space-time grid G t,p ; C <i> t,p is the element of the confidence matrix C <i> , indicating that the receiver is located in the space-time grid after the i-th search G t, the possibility of p ; ∑ () represents the summation function, and Avg () represents the averaging function.
获得待搜索卫星的集合中每颗卫星的加权平均可见度后,卫星搜索器230可以将加权平均可见度最高的卫星作为下一次待搜索的卫星: After obtaining the weighted average visibility of each satellite in the set of satellites to be searched, the satellite searcher 230 can use the satellite with the highest weighted average visibility as the satellite to be searched next time:
其中s<i+1> search是第i+1次搜索时要搜索的卫星的编号,表示以s为参数,使值最大的s值。 Where s <i+1> search is the number of the satellite to be searched in the i+1th search, Indicates that s is used as a parameter, so that The s-value with the largest value.
卫星的搜索结果除受到卫星可见度的影响外,还有可能受到接收机所处位置的遮挡情况的影响。根据本申请的一种实施方式,处理器220可以设定卫星的遮挡概率e,并根据卫星的搜索结果和卫星的遮挡概率e来更新接收机位于时空格子集上每个时空格子的置信度。 In addition to being affected by satellite visibility, satellite search results may also be affected by the occlusion of the receiver's location. According to an embodiment of the present application, the processor 220 may set the satellite occlusion probability e, and update the confidence that the receiver is located in each space-time grid on the space-time subset according to the satellite search result and the satellite occlusion probability e. the
根据一种实施方式,处理器220可以采用固定的遮挡概率计算时空格子的置信度。处理器220也可以根据时空格子因素设定卫星的遮挡概率e。根据另一种实施方式,处理器220还可以根据接收机所处环境因素设定卫星的遮挡概率e。 According to an implementation manner, the processor 220 may use a fixed occlusion probability to calculate the confidence of the space-time grid. The processor 220 may also set the occlusion probability e of the satellite according to the space-time grid factor. According to another implementation manner, the processor 220 may also set the satellite occlusion probability e according to the environmental factors where the receiver is located. the
根据一种实施例,接收机所处的环境参数可以通过信息收集器240获得。信息收集器可以是信息输入单元,由用户直接输入环境参数。信息收集器也可以是设置于接收机中的传感器单元,例如摄像头等,通过 感测周围环境信息获得环境参数。信息收集器还可以是参数存储单元,存储默认的环境参数。信息收集器还可以是通信模块,接收由接收机以外的信息源发布或传输的环境参数。 According to an embodiment, the environmental parameters of the receiver can be obtained through the information collector 240 . The information collector may be an information input unit, and the user directly inputs environmental parameters. The information collector can also be a sensor unit arranged in the receiver, such as a camera, etc., which obtains environmental parameters by sensing the surrounding environment information. The information collector can also be a parameter storage unit, storing default environment parameters. The information collector can also be a communication module that receives environmental parameters published or transmitted by information sources other than the receiver. the
根据本申请的一种实施方式,处理器220进一步包括置信度调整模块222。处理器220的置信度调整模块根据搜索结果(捕获成功或者捕获失败)、卫星在可见度矩阵V中对应的可见度(1或者0)以及卫星的遮挡概率e来对置信度进行更新。 According to an implementation manner of the present application, the processor 220 further includes a confidence adjustment module 222 . The confidence level adjustment module of the processor 220 updates the confidence level according to the search result (acquisition success or acquisition failure), the corresponding visibility (1 or 0) of the satellite in the visibility matrix V, and the occlusion probability e of the satellite. the
当第i+1次卫星的搜索结果s<i+1> search为搜索成功时, When the i+1 satellite search result s <i+1> search is successful,
其中,e为卫星遮挡概率;表示编号为s<i+1> search的卫星对于时空格子Gt,p的可见度。 Among them, e is the probability of satellite occlusion; Indicates the visibility of the satellite numbered s <i+1> search for the space-time grid G t,p .
这样,若搜索到卫星,且相应时空格子对该卫星的可见性为1,则将该时空格子对应的置信度乘以该卫星未被遮挡的概率;若搜索到卫星,且相应时空格子对该卫星的可见性为0,则将该时空格子对应的置信度设为0。 In this way, if a satellite is searched, and the visibility of the corresponding space-time grid to the satellite is 1, the confidence corresponding to the space-time grid is multiplied by the probability that the satellite is not blocked; If the visibility of the satellite is 0, then the confidence corresponding to the space-time grid is set to 0. the
当第i+1次卫星的搜索结果s<i+1> search为搜索失败时, When the search result s <i+1> search of the i+1th satellite is a search failure,
这样,若未搜索到卫星,且相应时空格子对该卫星的可见性为1,则该时空格子对应的置信度乘以该卫星的卫星遮挡概率;若未搜索到卫星,且相应时空格子对该卫星的可见性为0,则维持该时空格子对应的置信度不变。 In this way, if no satellite is found and the visibility of the corresponding space-time grid is 1, the confidence corresponding to the space-time grid is multiplied by the satellite occlusion probability of the satellite; If the visibility of the satellite is 0, the confidence corresponding to the space-time grid remains unchanged. the
根据一种实施方式,处理器220可以将置信度为0的时空格子从时空格子集中删除。这样,可以缩小时空格子集合,从而降低计算量。 According to an implementation manner, the processor 220 may delete a space-time cell whose confidence level is 0 from the space-time cell set. In this way, the set of space-time grids can be reduced, thereby reducing the amount of computation. the
根据本申请的一种实施方式,处理器220将从待搜索卫星列表中删除已搜索卫星。也就是说,接收机,具体地卫星搜索器230将不再搜索已经搜索过的卫星。 According to an embodiment of the present application, the processor 220 will delete the searched satellite from the list of satellites to be searched. That is, the receiver, specifically the satellite searcher 230 will no longer search for already searched satellites. the
根据本申请的一种实施方式,当搜索卫星的结果为捕获成功时,处理器220将判断捕获到的卫星数量是否满足要求,如果满足要求,则停止 卫星搜索。 According to an embodiment of the present application, when the result of searching for satellites is that the acquisition is successful, the processor 220 will judge whether the number of captured satellites meets the requirements, and if the requirements are met, the satellite search is stopped. the
根据本申请的一种实施方式,置信度的初始值可以根据接收机的先验时间和空间信息确定。接收机的先验时间和空间信息可以由接收机200的信息收集器240提供。 According to an embodiment of the present application, the initial value of the confidence level may be determined according to the priori time and space information of the receiver. The receiver's a priori temporal and spatial information may be provided by the information collector 240 of the receiver 200 . the
以下将结合接收机进行卫星搜索的一个具体应用为例进一步详细说明本申请的搜索方法。可以理解,根据需要或者各种不同场景,本申请公开的搜索方法可以有各种不同的具体应用。 The search method of the present application will be further described in detail below with reference to a specific application of satellite search by a receiver as an example. It can be understood that, according to requirements or various scenarios, the search method disclosed in this application may have various specific applications. the
在本应用中,如图4所示,可以在步骤310中设定预处理参数,以确定时空格子集合{G},置信度矩阵C的初始值,以及可见度矩阵V。可以理解,上述参数可以由用户设定,也可以预先存储在接收机中。或者,上述参数也可以由接收机自身设定,例如,通过在接收机上集成通信链路、惯导、摄像头、温度计和/或气压计等来进行参数设定。 In this application, as shown in FIG. 4 , preprocessing parameters can be set in step 310 to determine the space-time grid set {G}, the initial value of the confidence matrix C, and the visibility matrix V. It can be understood that the above parameters can be set by the user, and can also be pre-stored in the receiver. Alternatively, the above parameters can also be set by the receiver itself, for example, by integrating a communication link, inertial navigation, camera, thermometer and/or barometer, etc. on the receiver to perform parameter setting. the
所设置的参数包括时空范围,时空格子划分参数和先验信息。时空范围是指用户认为接收机可能所处的时间和空间范围。时空格子划分参数可以包括时空格子的步长。当对时空格子进行均匀划分时,时空格子的步长为定值;当对时空格子进行不均匀划分时,时空格子的步长可以根据需要设定不同的步长值。用来配置划分的时空格子的大小;先验信息,指在进行搜索前用户先验的时空位置信息。 The set parameters include space-time range, space-time grid division parameters and prior information. Spatio-temporal extent refers to the temporal and spatial extent in which the user believes that the receiver may be located. The spatio-temporal grid division parameter may include the step size of the spatio-temporal grid. When the space-time grid is divided evenly, the step length of the space-time grid is a fixed value; when the space-time grid is divided unevenly, the step size of the space-time grid can be set to different step values according to needs. It is used to configure the size of the divided space-time grid; prior information refers to the user's prior space-time position information before searching. the
根据时空格子划分参数对时空范围进行划分,构成时空格子集合{G}。例如,若指定的空间范围是全球地表,划分的步长经纬度均为10°,则空间范围将被划分为180/10*360/10=648个空间格子;若指定的时间范围是接收机自带时钟的时间前后各1h,划分的步长为30min,则时间范围将被划分为2*60/30=4个时间格子。可以对时间格子和空间格子进行交叉拓展,从而得到648*4=2592个时空格子,它们组成了时空格子集合{G}。为{G}中每一个格子都分配一个对应的时间点和空间点,例如,可以取时间格子的中点和空间格子的中点。 The space-time range is divided according to the space-time grid division parameters to form a set {G} of space-time grids. For example, if the specified spatial range is the global surface, and the division step length latitude and longitude are both 10°, the spatial range will be divided into 180/10*360/10=648 spatial grids; if the specified time range is 1 hour before and after the time with the clock, and the division step is 30 minutes, then the time range will be divided into 2*60/30=4 time grids. The time grid and the space grid can be cross-extended to obtain 648*4=2592 space-time grids, which form the set {G} of space-time grids. Each grid in {G} is assigned a corresponding time point and space point, for example, the midpoint of the time grid and the midpoint of the space grid can be taken. the
先验信息给出了接收机可能所处的时间和空间,从而可以根据先验信息设置置信度矩阵的初始值。可以使置信度矩阵C的赋值方式满足当接收机处于某个时空格子的可能性越高时,置信度矩阵C中对应格子对 应的元素值越大。可以根据先验信息,按照上述赋值办法给置信度矩阵C赋值。当没有先验信息时,也可以将置信度矩阵C中的每个元素赋相同的非零值。 The prior information gives the possible time and space of the receiver, so the initial value of the confidence matrix can be set according to the prior information. The assignment method of the confidence matrix C can be satisfied that when the probability that the receiver is in a certain space-time grid is higher, the value of the element corresponding to the corresponding grid in the confidence matrix C is larger. The confidence matrix C can be assigned a value according to the above assignment method according to the prior information. When there is no prior information, each element in the confidence matrix C can also be assigned the same non-zero value. the
接收机所能处理的GNSS的卫星构成了待搜索的卫星列表{S}。对待搜索的卫星列表{S}中的每一颗卫星,计算它对时空格子集合{G}中每一个时空格子的可见度。为此,首先读取指定卫星的历书,获取其轨道根数,再按照一定模型计算出该卫星在时空格子所对应的时间点上的轨道位置,联合这个轨道位置和取定的时空格子所包含的空间点,可以计算出轨道位置对于该空间点的仰角值,比较这个仰角值与事先设定的仰角阈值的大小关系——若它大于事先设定的仰角阈值,则判定该卫星可见(标记为数值1),若它小于事先设定的仰角阈值则判定该卫星不可见(标记为数值为0)。遍历待搜索的卫星列表{S}和时空格子集合{G},得到可见度矩阵V。 The GNSS satellites that the receiver can handle constitute the list {S} of satellites to be searched. For each satellite in the searched satellite list {S}, calculate its visibility to each space-time grid in the space-time grid set {G}. To this end, first read the almanac of the designated satellite to obtain its orbital elements, and then calculate the orbital position of the satellite at the time point corresponding to the space-time grid according to a certain model, and combine this orbital position with the determined space-time grid. space point, the elevation angle value of the orbital position for this space point can be calculated, and the relationship between the elevation angle value and the preset elevation angle threshold value can be compared—if it is greater than the preset elevation angle threshold value, it is determined that the satellite is visible (marked is the value 1), if it is less than the preset elevation angle threshold, it is determined that the satellite is invisible (marked as a value of 0). The visibility matrix V is obtained by traversing the satellite list {S} to be searched and the set of space-time grids {G}. the
在确定了时空格子集合{G},置信度矩阵C的初始值,以及可见度矩阵V后,可以进行卫星的动态搜索。在本应用中,可以设定卫星信号被遮挡概率为e。可以理解,在不同的环境及不同的时空格子中遮挡概率e可以有不同的取值。 After determining the set of space-time grids {G}, the initial value of the confidence matrix C, and the visibility matrix V, the dynamic search of satellites can be performed. In this application, the probability that the satellite signal is blocked can be set as e. It can be understood that the occlusion probability e may have different values in different environments and different space-time grids. the
步骤320,计算卫星加权平均可见度。对待搜索的卫星列表{S}中的每一颗卫星s,计算其卫星加权平均可见度: Step 320, calculating satellite weighted average visibility. For each satellite s in the searched satellite list {S}, calculate its satellite weighted average visibility:
对指定的卫星,检索可见度矩阵V,可以得到它对每一个时空格子的可见度,而每一个时空格子在置信度矩阵C中都能找到其对应的权值,按照置信度矩阵C提供的权值分布将指定卫星对这些时空格子的可见度加权平均,得到待搜索卫星集合中各卫星的加权平均可见度。 For the specified satellite, retrieve the visibility matrix V to get its visibility for each space-time grid, and each space-time grid can find its corresponding weight in the confidence matrix C, according to the weight provided by the confidence matrix C The distribution weights the visibility of the specified satellites to these space-time grids to obtain the weighted average visibility of each satellite in the set of satellites to be searched. the
步骤330,确定本轮要搜索的卫星信号。可以选择取卫星加权平均可见度最大的卫星:
步骤340,接收机尝试捕获该卫星的信号,返回捕获结果。若捕获成功,则在步骤350中判断捕获的卫星信号数是否足够多,若足够多,结束卫星搜索过程;否则,执行步骤360。若捕获失败,则执行步骤360。 Step 340, the receiver tries to acquire the signal of the satellite, and returns the acquisition result. If the acquisition is successful, it is judged in step 350 whether the number of acquired satellite signals is enough, if enough, the satellite search process is ended; otherwise, step 360 is performed. If the capture fails, go to step 360 . the
步骤360,更新置信度矩阵C。在卫星s<i+1> search搜索成功时, Step 360, updating the confidence matrix C. When satellite s <i+1> search succeeds,
在卫星s<i+1> search搜索失败时, When satellite s <i+1> search fails,
步骤370,缩小时空格子集合{G}。检索置信度矩阵C中各元素,将C中0值元素对应的时空格子从时空格子集合{G}中剔除出去。 Step 370, shrink the set of space-time grids {G}. Retrieve each element in the confidence matrix C, and remove the space-time cells corresponding to the 0-value elements in C from the space-time cell set {G}. the
步骤380,更新待搜索的卫星列表{S}。将本轮捕获中尝试捕获的卫星从待捕获卫星中剔除出去:{G}<i+1>={Gt,p|Gt,p∈{G}<i>,C<i> t,p≠0}。 Step 380, updating the list {S} of satellites to be searched. Remove the satellites that are trying to be captured in this round of capture from the satellites to be captured: {G} <i+1> ={G t,p |G t,p ∈{G} <i> ,C <i> t, p ≠ 0}.
重复上述步骤320至380,直至搜索到足够数量的卫星后停止卫星搜索过程。 The above steps 320 to 380 are repeated until a sufficient number of satellites are found and the satellite search process is stopped. the
以上参照附图对本申请的示例性的实施方案进行了描述。本领域技术人员应该理解,上述实施方案仅仅是为了说明的目的而所举的示例,而不是用来进行限制,凡在本申请的教导和权利要求保护范围下所作的任何修改、等同替换等,均应包含在本申请要求保护的范围内。 The exemplary embodiments of the present application are described above with reference to the accompanying drawings. It should be understood by those skilled in the art that the above-mentioned embodiments are only examples for the purpose of illustration, and are not used for limitation. Any modifications, equivalent replacements, etc. All should be included in the protection scope of this application. the
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