CN105913692A - Flight monitoring service method and system thereof - Google Patents
Flight monitoring service method and system thereof Download PDFInfo
- Publication number
- CN105913692A CN105913692A CN201610395176.0A CN201610395176A CN105913692A CN 105913692 A CN105913692 A CN 105913692A CN 201610395176 A CN201610395176 A CN 201610395176A CN 105913692 A CN105913692 A CN 105913692A
- Authority
- CN
- China
- Prior art keywords
- flight
- radar
- information
- unmanned plane
- monitors
- 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
- 238000000034 method Methods 0.000 title claims abstract description 51
- 238000012544 monitoring process Methods 0.000 title claims abstract description 12
- 238000010295 mobile communication Methods 0.000 claims abstract description 29
- 238000006243 chemical reaction Methods 0.000 claims abstract description 17
- DMBHHRLKUKUOEG-UHFFFAOYSA-N diphenylamine Chemical compound C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 claims abstract description 13
- 230000008569 process Effects 0.000 claims description 30
- 238000004891 communication Methods 0.000 claims description 24
- 230000005540 biological transmission Effects 0.000 claims description 14
- 230000004044 response Effects 0.000 claims description 10
- 238000009434 installation Methods 0.000 claims description 6
- 230000001360 synchronised effect Effects 0.000 claims description 6
- 230000004927 fusion Effects 0.000 claims description 5
- 238000010276 construction Methods 0.000 claims description 4
- 238000010606 normalization Methods 0.000 claims description 3
- 238000012546 transfer Methods 0.000 claims description 3
- 230000000007 visual effect Effects 0.000 claims description 3
- 230000008901 benefit Effects 0.000 abstract description 2
- 230000002093 peripheral effect Effects 0.000 abstract 1
- 230000001419 dependent effect Effects 0.000 description 8
- 238000005516 engineering process Methods 0.000 description 3
- 230000010365 information processing Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 239000000470 constituent Substances 0.000 description 1
- 238000007405 data analysis Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/0047—Navigation or guidance aids for a single aircraft
- G08G5/0069—Navigation or guidance aids for a single aircraft specially adapted for an unmanned aircraft
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar Systems Or Details Thereof (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a flight monitoring service method and a system thereof. The method is characterized by through a black box of a low altitude flight aircraft, acquiring a position and flight path information of an unmanned aerial vehicle; after carrying out correlation processing, using an unmanned aerial vehicle air traffic control system to send peripheral flight path information of the unmanned aerial vehicle to an unmanned aerial vehicle ground control station. The system comprises a civil aviation secondary radar, a low-altitude radar, radar access equipment, mobile acquisition equipment, an ADSB ground station, mobile conversion equipment, an automatic navigator, a GPS radio station, ADSC information conversion equipment, mobile communication equipment, a Big Dipper airborne navigator, a flight monitoring cloud server and a flight monitoring information application system. The method and the system of the invention have an advantage that dynamic data of an acquired unmanned aerial vehicle flight path, a state and the like can be taken as a monitoring information source and is transmitted to an air traffic control system currently used by military and civil aviation in real time so that a management department can conveniently monitor a flight state of a low altitude airspace unmanned aerial vehicle, and a blind area of current low-altitude spatial domain monitoring is compensated.
Description
Technical field
The present invention relates to a kind of flight and monitor the method and system of service, belong to field of aerospace technology.
Background technology
At present, unmanned vehicle technology develops rapidly, but unmanned plane is attached on airport and other sensitive areas simultaneously
Nearly flight also brings growing security concerns, it is achieved it is that a gesture exists that the real-time flight of unmanned plane monitors
The thing that must go.The first generation unmanned plane air traffic control system that the U.S. develops only achieves airspace application function, plan
In third generation system, realize flight monitor.
At present, army's Civil Aviation ATM system in the art is also not involved with what unmanned plane during flying monitored
Function, achieves the in-service monitoring of part unmanned plane in the unmanned plane management software of domestic part company exploitation,
But do not have special flight to monitor service system, do not have and army's Civil Aviation ATM system realization interconnection yet.
Such as, the patent of Application No. CN201410801162.5 relates to space flight and aviation technical field, specifically public
Having opened a kind of distributed low altitude flight service system and method for work thereof, system uses Pyatyi distributed frame,
Including communication layers, data access layer, data analysis layer, service layer and management level, communication layers is as distributed
The data switching center of other equipment in low altitude flight service system, make five layers separate, separately positioned,
Whole system is not affected while improving other each layer degree of freedom.
Such as, the patent of Application No. CN201410530701.6 discloses a kind of Flight service data pass
The implementation method of connection, spatial domain is divided into some grids, weather information and each grid is associated, is intended to
Information and grid are associated, and navigational intelligence information are associated, so, according to the grid of every plan process,
Just can find rapidly the weather information of relevant grid, quickly provide the information required for flight for pilot.
In sum, currently, traditional unmanned plane during flying monitoring system has the disadvantage in that
(1) unmanned plane not being monitored, information exports army's Civil Aviation ATM system；
(2) unmanned plane is not monitored information realization standardization；
(3) do not combine with commonly there being man-machine flight supervision；
(4) flight is not monitored and combine with flight application spatial domain.
Summary of the invention
It is an object of the invention to provide a kind of method that flight that can overcome above-mentioned technical problem monitors service
And system, a kind of method flying the service that monitors of the present invention is to be obtained by the black box of low altitude flight airborne vehicle
Take the position of unmanned plane and the information of flight path, after carrying out relevant treatment, by unmanned plane air traffic control system
The flight path information of unmanned plane periphery is sent to UAV ground control station by system (special ATC system), convenient
Unmanned plane driver understands other unmanned plane information of flying area periphery, and ensure safety flight.Described unmanned
Machine air traffic control system is referred to as special ATC system, and described unmanned plane air traffic control system refers to specially
For the information system being different from universal aerial traffic control system of low altitude airspace management and construction, described unmanned plane
Air traffic control system be used for the registration management towards unmanned plane class low flyer, spatial domain examination & approval and
Management, the low of the aircraft such as supervision and management, the multiclass function of safety control service specification unmanned plane of flying
Empty flying activity is to ensure air traffic safety, efficiently.
The present invention a kind of flies the method for the service that monitors can dynamic by the unmanned plane during flying flight path obtained and state
State real-time data transmission processes to the air traffic control system of the existing operating of civil aviaton of army, to facilitate blank pipe
The state of flight of low altitude airspace unmanned plane is monitored by department, compensate for the blind area that current low altitude airspace monitors.
A kind of flight of the present invention monitors that the method for service comprises the following steps:
(1) lead to after the airbound target information that civil aviaton's secondary radar and low altitude radar obtain being carried out information standardization
Cross mobile collection equipment and be uploaded to flight supervision Cloud Server, then monitored that Cloud Server is distributed to flight by flight
Monitor information application system, it is achieved the supervision of big-and-middle-sized unmanned plane target.
For described existing aircraft, as added second set response machine equipment, described civil aviaton secondary radar leads to
Cross one-time positioning, secondary inquire and receive the mode of response determine the orientation of described existing aircraft, distance,
Highly, the information of secondary code, it is achieved the real-time supervision to described existing aircraft.
Described low altitude radar refers to by the radar after the special handling that antenna installation, earthwave suppress, described low
Empty radar is to carry out the air traffic control radar that monitors, owing to described civil aviaton secondary radar is for middle height for low target
Null object and near airports fly and monitor into short distance target, accordingly, it would be desirable to use described low altitude radar.
Described low altitude radar is also a kind of secondary radar.
Described flight monitor Cloud Server refer to be specifically designed to realization flight monitor data cloud transmission, cloud process,
The internet cloud server of the function that cloud computing, cloud are issued.
Described flight monitors that information application system is that the flight supporting different user demands monitors application software system
System；As: computer client software, mobile phone A PP software.
(2) by installing the black box with navigation locating function additional at unmanned plane, by the position of unmanned plane, height
Degree, speed, the information in direction are organized into ADSB information format and are sent to flight supervision cloud clothes by mobile network
Business device, and monitored that Cloud Server is distributed to unmanned plane air traffic control system by flight, it is achieved unmanned
The real-time supervision of machine flight；Described flight monitors that Cloud Server refers to that being specifically designed to realization flight monitors data cloud
The internet cloud server of the function that transmission, cloud process, cloud computing, cloud are issued.
(3) by mobile communication, the Flight Condition Data of unmanned plane is sent to operate the unmanned plane of this unmanned plane
Earth station, it is achieved the unmanned plane during flying manipulation of supervisionization in real time.
Described unmanned aerial vehicle station refers to be integrated with beechnut, mobile communication system, unmanned plane manipulation system
System, the storage of high-performance embedded data processor, data and a kind of special equipment of LCDs, for nothing
Man-machine driver provide flying area application, aerial dynamic surveillance, safe flight management and control, case of emergency process,
Data check, information are mutual, the service of communication, thus realize spatial domain application the most easily and effectively management and control
Under safe flight.
(4) unmanned plane air traffic control system is by the unmanned plane during flying in movable unmanned plane reply flying area
Status information is periodically circulated a notice of to unmanned aerial vehicle station by mobile network.Unmanned plane air traffic control
System by local reception to unmanned plane during flying status information collect after with ADSB information format to associated air hand over
Logical control system is circulated a notice of；Described associated air traffic control system refers to existing air traffic control system
System.
What described unmanned plane air traffic control system referred to aim at low altitude airspace management and construction is different from universal aerial
The information system of traffic control system, described unmanned plane air traffic control system has been used for towards unmanned plane
The registration management of class low flyer, spatial domain examination & approval and management, flight monitor and management, safety control service
Multiclass function and the low level flight operations of the aircraft such as specification unmanned plane to ensure air traffic safety, efficiently.
The flight of the present invention monitors that service system includes: civil aviaton's secondary radar, low altitude radar, radar access and set
Standby, mobile collection equipment, the ADSB earth station english abbreviation of Automatic dependent surveillance broadcast (ADSB be),
(GPS radio station refers to be loaded with GPS navigation location equipment for mobile conversion equipment, preset device, GPS radio station
Communication station), the ADSC MSF english abbreviation of agreement formula automatic dependent surveillance (ADSC be), move
Dynamic communication equipment, Big Dipper airborne navigator, flight monitor that Cloud Server, flight monitor information application system.
Described civil aviaton secondary radar, low altitude radar are connected with radar access device respectively, and described radar accesses and sets
Standby, mobile collection equipment, flight supervision Cloud Server, flight supervision information application system are sequentially connected with；Institute
State ADSB earth station, mobile conversion equipment, flight monitors Cloud Server, flying monitors that information application system depends on
Secondary connection；Described preset device, GPS radio station, Big Dipper airborne navigator set with the conversion of ADSC information respectively
Standby connection；Described ADSC MSF, mobile communication equipment, flight monitor Cloud Server, flight prison
Visual information application system is sequentially connected with.
For described existing aircraft, as added second set response machine equipment, described civil aviaton secondary radar leads to
Cross one-time positioning, secondary inquire and receive the mode of response determine the orientation of described existing aircraft, distance,
Highly, the information of secondary code, it is achieved the real-time supervision to described existing aircraft.
Described low altitude radar refers to by the radar after the special handling that antenna installation, earthwave suppress, described low
Empty radar is to carry out the air traffic control radar that monitors, owing to described civil aviaton secondary radar is in the air for low target
Target and the target in overhead, airport monitor, accordingly, it would be desirable to use described low altitude radar.Described low latitude
Radar is also a kind of secondary radar.
Described civil aviaton secondary radar and low altitude radar use HDLC, and (HDLC is high-level data link control procedure
English abbreviation) synchronous communication agreement is transmitted, typically require before access information system carry out synchronizing turning asynchronous or
Person synchronizes to turn network processes.Described radar access device is to synchronize to turn the network equipment, and the most described radar accesses and sets
It is ready for use on after the Frame of synchronous transfer is processed and is converted to the output of UDP message bag.
Described mobile collection equipment is the radar data acquisition equipment with functionality mobile communication, and described movement is adopted
Collection equipment receives and processes from multiple secondary radars and the multichannel data of multiple low altitude radar, by fusion treatment
After empty feelings data normalization after, monitor Cloud Server to flight, and according to user by network communication output
Conditions of demand are distributed to each Subscriber Unit by the supervision information application system that flies.
Generally aircraft is by installing the ADSB english abbreviation of Automatic dependent surveillance broadcast (ADSB be) equipment additional
Periodically broadcast aircraft position, highly, speed, course, the state of flight information of aircraft identification；Ground
Face flight monitors that unit by described ADSB ground station reception and resolves the flight supervision of ADSB information realization.
Described mobile conversion equipment is the ADSB data conversion equipment with functionality mobile communication, and described movement turns
Exchange device receives and processes ADSB data, and ADSB data is exported to cloud service by mobile communication network
By flight, device, according to circumstances monitors that information application system is distributed to each Subscriber Unit.
Described preset device is the airborne equipment with navigation locating function, and described preset device passes through GPS
System or dipper system position, and export unmanned plane periodically through mobile communication or RF433/2.5G
The parameter information of state of flight.
Described GPS radio station refers to be attached with the air-ground digital radio station of GPS positioning navigation module.Aircraft passes through GPS
Positioning navigation module obtains locating navigation information, and air-ground digital radio station exports ground flying monitor unit, carries
For a class flight supervision information.
Described mobile communication equipment refers to for realizing airborne navigation information (ADSC) and flight supervision cloud service
The Data-Link of device data communication.
Described flight monitor Cloud Server refer to be specifically designed to realization flight monitor data cloud transmission, cloud process,
The internet cloud server of the function that cloud computing, cloud are issued.
Described flight monitors that information application system is that the flight supporting different user demands monitors application software system
System；As: computer client software, mobile phone A PP software.
Described Big Dipper airborne navigator is airborne navigation subscriber computer or the instrument with Beidou communication navigation feature；
Obtain navigator fix information by BDStar navigation system, realize data by Big Dipper short message communication and transmit.
Information is monitored for all kinds of off-gauge ADSC, needs before access information to carry out information standardization process,
In the light of actual conditions be converted to army's Civil Aviation ATM automated system by described ADSC MSF can locate
The MH4008 reference format (civil aviaton's standard) of reason, ASTRIX reference format (European standard), GJB3283 mark
Quasiconfiguaration (army's navigation mark is accurate).Described ADSC is the english abbreviation of the automatic dependent surveillance information of connecting-type, meaning
I.e. space connects the supervision information of transmission by setting up communication.
Information is monitored for ADSC after standardization, monitors that cloud takes by described mobile communication equipment output to flight
By flight, business device, monitors that information application system is distributed to constituent parts and uses.
The present invention has a following functions:
(1) information processing function that low altitude flight monitors, including: secondary radar data access and process；Low
Empty radar information accesses and processes；ADSB data access and process；Autonomous flight path information gathering；Autonomous flight path
Information is transmitted；Secondary radar Track Fusion；ADS-B Track Fusion；Flight path dependency processes；Flight path monitors pipe
Reason；Flight path information stores, pays a return visit and issue.
(2) low flyer monitors the information processing function, including: provide reply sky to low altitude flight user
The airbound target flight path information of territory periphery；To blank pipe department circular low flyer flight monitor information,
Spatial domain invades alarm, deflects away from flying area alarm, dangerous close alarm.
The invention have the advantage that position and the flight path being obtained unmanned plane by the black box of low altitude flight airborne vehicle
Information, unmanned plane air traffic control system the flight path information of unmanned plane periphery is sent to unmanned plane ground
Face control station, facilitates unmanned plane driver and understands other unmanned plane information of flying area periphery, ensure
Safe flight.The flight of the present invention monitors that service system can dynamic by the unmanned plane during flying flight path obtained and state
State data are as monitoring information source real-time Transmission extremely existing air traffic control system, to facilitate administration section
The state of flight of low altitude airspace unmanned plane is monitored, compensate for the blind area that current low altitude airspace monitors.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram that flight of the present invention monitors service system.
Detailed description of the invention
Below in conjunction with the accompanying drawings embodiments of the present invention are described in detail.A kind of flight of the present invention monitors
The method of service can be existing by the dynamic data real-time Transmission of the unmanned plane during flying flight path obtained and state to civil aviaton of army
The air traffic control system of row operating processes, to facilitate blank pipe department to fly low altitude airspace unmanned plane
Row monitoring state, makes up the blind area that current low altitude airspace monitors.A kind of flight of the present invention monitors service
Method comprise the following steps:
(1) lead to after the airbound target information that civil aviaton's secondary radar and low altitude radar obtain being carried out information standardization
Cross mobile collection equipment and be uploaded to flight supervision Cloud Server, then monitored that Cloud Server is distributed to flight by flight
Monitor information application system, it is achieved the supervision of big-and-middle-sized unmanned plane target.
Owing to existing aircraft all adds second set response machine equipment, therefore, for described existing flight
Device, described civil aviaton secondary radar determines described existing by the way of one-time positioning, secondary are inquired and received response
The orientation of some aircraft, distance, highly, the key message of secondary code, it is achieved existing fly described
The real-time supervision of row device.
Described low altitude radar refers to by the radar after the special handling that antenna installation, earthwave suppress, described low
Empty radar is to carry out the air traffic control radar that monitors, owing to described civil aviaton secondary radar is for middle height for low target
Null object and near airports fly and monitor into short distance target, but the most difficult for low target identification,
Accordingly, it would be desirable to use described low altitude radar.Described low altitude radar is also a kind of secondary radar.
Described flight monitor Cloud Server refer to be specifically designed to realization flight monitor data cloud transmission, cloud process,
The internet cloud server of the function that cloud computing, cloud are issued.
Described flight monitors that information application system is that the flight supporting different user demands monitors application software system
System；As: computer client software, mobile phone A PP software.
(2) by installing the black box with navigation locating function additional at unmanned plane, by the position of unmanned plane, height
Degree, speed, the information in direction are organized into ADSB information format and are sent to flight supervision cloud clothes by mobile network
Business device, and monitored that Cloud Server is distributed to unmanned plane air traffic control system by flight, it is achieved unmanned
The real-time supervision of machine flight；Described flight monitors that Cloud Server refers to that being specifically designed to realization flight monitors data cloud
The internet cloud server of the function that transmission, cloud process, cloud computing, cloud are issued.
(3) by mobile communication, the Flight Condition Data of unmanned plane is sent to operate the unmanned plane of this unmanned plane
Earth station, it is achieved the unmanned plane during flying manipulation of supervisionization in real time.
Described unmanned aerial vehicle station refers to be integrated with beechnut, mobile communication system, unmanned plane manipulation system
System, the storage of high-performance embedded data processor, data and a kind of special equipment of LCDs, for nothing
Man-machine driver provide flying area application, aerial dynamic surveillance, safe flight management and control, case of emergency process,
Data check, information are mutual, the service of communication, thus realize spatial domain application the most easily and effectively management and control
Under safe flight.
(4) unmanned plane air traffic control system is by the unmanned plane during flying in movable unmanned plane reply flying area
Status information is periodically circulated a notice of to unmanned aerial vehicle station by mobile network.Unmanned plane air traffic control
System by local reception to unmanned plane during flying status information collect after with ADSB information format to associated air hand over
Logical control system is circulated a notice of；Described associated air traffic control system refers to existing air traffic control system
System.
What described unmanned plane air traffic control system referred to aim at low altitude airspace management and construction is different from universal aerial
The information system of traffic control system, described unmanned plane air traffic control system has been used for towards unmanned plane
The registration management of class low flyer, spatial domain examination & approval and management, flight monitor and management, safety control service
Multiclass function and the low level flight operations of the aircraft such as specification unmanned plane to ensure air traffic safety, efficiently.
As it is shown in figure 1, the present invention flight monitor service system include: civil aviaton's secondary radar, low altitude radar,
(ADSB is the English of Automatic dependent surveillance broadcast for radar access device, mobile collection equipment, ADSB earth station
Literary composition abbreviation), mobile conversion equipment, preset device, (GPS radio station refers to be loaded with GPS navigation in GPS radio station
The communication station of location equipment), (ADSC is the English of agreement formula automatic dependent surveillance to ADSC MSF
Literary composition abbreviation), mobile communication equipment, Big Dipper airborne navigator, flight monitor Cloud Server, flight supervision information
Application system.
Described civil aviaton secondary radar, low altitude radar are connected with radar access device respectively, and described radar accesses and sets
Standby, mobile collection equipment, flight supervision Cloud Server, flight supervision information application system are sequentially connected with；Institute
State ADSB earth station, mobile conversion equipment, flight monitors Cloud Server, flying monitors that information application system depends on
Secondary connection；Described preset device, GPS radio station, Big Dipper airborne navigator set with the conversion of ADSC information respectively
Standby connection；Described ADSC MSF, mobile communication equipment, flight monitor Cloud Server, flight prison
Visual information application system is sequentially connected with.
Owing to existing aircraft all adds second set response machine equipment, therefore, for described existing flight
Device, described civil aviaton secondary radar determines described existing by the way of one-time positioning, secondary are inquired and received response
The orientation of some aircraft, distance, highly, the information of secondary code, it is achieved to described existing aircraft
Real-time supervision.
Described low altitude radar refers to by the radar after the special handling that antenna installation, earthwave suppress, described low
Empty radar is to carry out the air traffic control radar that monitors, owing to described civil aviaton secondary radar is in the air for low target
Target and the target in overhead, airport monitor, accordingly, it would be desirable to use described low altitude radar.Described low latitude
Radar is also a kind of secondary radar.
Described civil aviaton secondary radar and low altitude radar use HDLC, and (HDLC is high-level data link control procedure
English abbreviation) synchronous communication agreement is transmitted, typically require before access information system carry out synchronizing turning asynchronous or
Person synchronizes to turn network processes.Described radar access device is to synchronize to turn the network equipment, and the most described radar accesses and sets
It is ready for use on after the Frame of synchronous transfer is processed and is converted to the output of UDP message bag.
Described mobile collection equipment is the radar data acquisition equipment with functionality mobile communication, and described movement is adopted
Collection equipment receives and processes from multiple secondary radars and the multichannel data of multiple low altitude radar, by fusion treatment
After empty feelings data normalization after, monitor Cloud Server to flight, and according to user by network communication output
Conditions of demand are distributed to each Subscriber Unit by the supervision information application system that flies.
Generally aircraft is by installing the ADSB english abbreviation of Automatic dependent surveillance broadcast (ADSB be) equipment additional
Periodically broadcast aircraft position, highly, speed, course, the state of flight information of aircraft identification；Ground
Face flight monitors that unit by described ADSB ground station reception and resolves the flight supervision of ADSB information realization.
Described mobile conversion equipment is the ADSB data conversion equipment with functionality mobile communication, and described movement turns
Exchange device receives and processes ADSB data, and ADSB data is exported to cloud service by mobile communication network
By flight, device, according to circumstances monitors that information application system is distributed to each Subscriber Unit.
Described preset device is the airborne equipment with navigation locating function, and described preset device passes through GPS
System or dipper system position, and export unmanned plane periodically through mobile communication or RF433/2.5G
The parameter information of state of flight.
Described GPS radio station refers to be attached with the air-ground digital radio station of GPS positioning navigation module.Aircraft passes through GPS
Positioning navigation module obtains locating navigation information, and air-ground digital radio station exports ground flying monitor unit, carries
For a class flight supervision information.
Described mobile communication equipment refers to for realizing airborne navigation information (ADSC) and flight supervision cloud service
The Data-Link of device data communication.
Described flight monitor Cloud Server refer to be specifically designed to realization flight monitor data cloud transmission, cloud process,
The internet cloud server of the function that cloud computing, cloud are issued.
Described flight monitors that information application system is that the flight supporting different user demands monitors application software system
System；As: computer client software, mobile phone A PP software.
Described Big Dipper airborne navigator is airborne navigation subscriber computer or the instrument with Beidou communication navigation feature；
Obtain navigator fix information by BDStar navigation system, realize data by Big Dipper short message communication and transmit.
Information is monitored for all kinds of off-gauge ADSC, needs before access information to carry out information standardization process, according to
Practical situation is converted to what army's Civil Aviation ATM automated system can process by described ADSC MSF
MH4008 reference format (civil aviaton's standard), ASTRIX reference format (European standard), GJB3283 reticle
Formula (army's navigation mark is accurate).Described ADSC is the english abbreviation of the automatic dependent surveillance information of connecting-type, implies that ground
Space connects the supervision information of transmission by setting up communication.Information is monitored for ADSC after standardization, by institute
State mobile communication equipment output and monitor Cloud Server to flight, flight monitor that information application system is distributed to respectively
Unit uses.
The above, the only detailed description of the invention of the present invention, but protection scope of the present invention is not limited to
This, any those familiar with the art is in scope disclosed by the invention, it is possible to readily occur in
Change or replacement, all should contain within the scope of the invention as claimed.
Claims (9)
1. the method monitoring service of flying, it is characterised in that comprise the following steps:
(1) lead to after the airbound target information that civil aviaton's secondary radar and low altitude radar obtain being carried out information standardization
Cross mobile collection equipment and be uploaded to flight supervision Cloud Server, then monitored that Cloud Server is distributed to flight by flight
Monitor information application system, it is achieved the supervision of big-and-middle-sized unmanned plane target；
(2) by installing the black box with navigation locating function additional at unmanned plane, by the position of unmanned plane, height
Degree, speed, the information in direction are organized into ADSB information format and are sent to flight supervision cloud clothes by mobile network
Business device, and monitored that Cloud Server is distributed to unmanned plane air traffic control system by flight, it is achieved unmanned
The real-time supervision of machine flight；Described flight monitors that Cloud Server refers to that being specifically designed to realization flight monitors data cloud
The internet cloud server of the function that transmission, cloud process, cloud computing, cloud are issued；
(3) by mobile communication, the Flight Condition Data of unmanned plane is sent to operate the unmanned plane of this unmanned plane
Earth station, it is achieved the unmanned plane during flying manipulation of supervisionization in real time；
(4) unmanned plane air traffic control system is by the unmanned plane during flying in movable unmanned plane reply flying area
Status information is periodically circulated a notice of to unmanned aerial vehicle station by mobile network.Unmanned plane air traffic control
System by local reception to unmanned plane during flying status information collect after with ADSB information format to associated air hand over
Logical control system is circulated a notice of；Described associated air traffic control system refers to existing air traffic control system
System.
The method that flight the most according to claim 1 monitors service, it is characterised in that described step (1)
In, described civil aviaton secondary radar determines existing by the way of one-time positioning, secondary are inquired and received response
The orientation of aircraft, distance, highly, the information of secondary code, it is achieved the reality to described existing aircraft
Time monitor.
The method that flight the most according to claim 1 monitors service, it is characterised in that described step (1)
In, described low altitude radar refers to by the radar after the special handling that antenna installation, earthwave suppress, described low
Empty radar is to carry out, for low target, the air traffic control radar that monitors, and described civil aviaton secondary radar is for aerial target
Monitor with the target in overhead, airport, need to use described low altitude radar；Described low altitude radar is also a kind of
Secondary radar；
Described flight monitor Cloud Server refer to be specifically designed to realization flight monitor data cloud transmission, cloud process,
The internet cloud server of the function that cloud computing, cloud are issued；Described flight monitors that information application system is to support
The flight of different user demands monitors application software system.
The method that flight the most according to claim 1 monitors service, it is characterised in that described step (3)
In, described unmanned aerial vehicle station refers to be integrated with beechnut, mobile communication system, unmanned plane manipulation system
System, the storage of high-performance embedded data processor, data and a kind of special equipment of LCDs, be used for
Flying area application, aerial dynamic surveillance, safe flight management and control, case of emergency is provided for unmanned plane driver
Process, data check, information are mutual, the service of communication.
The method that flight the most according to claim 1 monitors service, it is characterised in that described step (4)
In, what described unmanned plane air traffic control system referred to aim at low altitude airspace management and construction is different from universal aerial
The information system of traffic control system, described unmanned plane air traffic control system has been used for towards unmanned plane
The registration management of class low flyer, spatial domain examination & approval and management, flight monitor and management, safety control service
Multiclass function and the low level flight operations of specification unmanned plane during flying device.
6. one kind flight monitor service system, it is characterised in that including: civil aviaton's secondary radar, low altitude radar,
Radar access device, mobile collection equipment, ADSB earth station, mobile conversion equipment, preset device, GPS
Radio station, ADSC MSF, mobile communication equipment, Big Dipper airborne navigator, flight monitor cloud service
Device, flight monitor information application system；
Described civil aviaton secondary radar, low altitude radar are connected with radar access device respectively, and described radar accesses and sets
Standby, mobile collection equipment, flight supervision Cloud Server, flight supervision information application system are sequentially connected with；Institute
State ADSB earth station, mobile conversion equipment, flight monitors Cloud Server, flying monitors that information application system depends on
Secondary connection；Described preset device, GPS radio station, Big Dipper airborne navigator set with the conversion of ADSC information respectively
Standby connection；Described ADSC MSF, mobile communication equipment, flight monitor Cloud Server, flight prison
Visual information application system is sequentially connected with；
Described mobile collection equipment is the radar data acquisition equipment with functionality mobile communication, and described movement is adopted
Collection equipment receives and processes from multiple secondary radars and the multichannel data of multiple low altitude radar, by fusion treatment
After empty feelings data normalization after, monitor Cloud Server to flight, and according to user by network communication output
Conditions of demand are distributed to each Subscriber Unit by the supervision information application system that flies；
Described mobile conversion equipment is the ADSB data conversion equipment with functionality mobile communication, and described movement turns
Exchange device receives and processes ADSB data, and ADSB data is exported to cloud service by mobile communication network
By flight, device, according to circumstances monitors that information application system is distributed to each Subscriber Unit；
Described preset device is the airborne equipment with navigation locating function, and described preset device passes through GPS
System or dipper system position, and export unmanned plane periodically through mobile communication or RF433/2.5G
The parameter information of state of flight；
Described GPS radio station refers to be attached with the air-ground digital radio station of GPS positioning navigation module；Aircraft passes through GPS
Positioning navigation module obtains locating navigation information, and air-ground digital radio station exports ground flying monitor unit, carries
For a class flight supervision information；
Described mobile communication equipment refers to for realizing airborne navigation information logical with flight supervision Cloud Server data
The Data-Link of letter；
Described flight monitor Cloud Server refer to be specifically designed to realization flight monitor data cloud transmission, cloud process,
The internet cloud server of the function that cloud computing, cloud are issued；
Described flight monitors that information application system is that the flight supporting different user demands monitors application software system
System.
Flight the most according to claim 6 monitors service system, it is characterised in that described civil aviaton secondary
Radar determine by the way of one-time positioning, secondary are inquired and received response described existing aircraft orientation,
Distance, highly, the information of secondary code, it is achieved the real-time supervision to described existing aircraft；Described low
Empty radar refers to that described low altitude radar is pin by the radar after the special handling that antenna installation, earthwave suppress
The air traffic control radar monitoring low target, described civil aviaton secondary radar is on aerial target and airport
Empty target monitors, described low altitude radar is also a kind of secondary radar.
Flight the most according to claim 6 monitors service system, it is characterised in that described civil aviaton secondary
Radar and low altitude radar use HDLC synchronous communication agreement to be transmitted, and need to carry out together before access information system
Step turns asynchronous or synchronizes to turn network processes；Described radar access device is to synchronize to turn the network equipment, i.e. described
Radar access device is converted to the output of UDP message bag after being processed by the Frame of synchronous transfer.
Flight the most according to claim 6 monitors service system, it is characterised in that the described Big Dipper is airborne
Navigator is airborne navigation subscriber computer or the instrument with Beidou communication navigation feature；It is fixed by Beidou navigation
Position system obtains navigator fix information, realizes data by Big Dipper short message communication and transmits.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610395176.0A CN105913692B (en) | 2016-06-06 | 2016-06-06 | A kind of method and system for monitoring service of flying |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610395176.0A CN105913692B (en) | 2016-06-06 | 2016-06-06 | A kind of method and system for monitoring service of flying |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105913692A true CN105913692A (en) | 2016-08-31 |
| CN105913692B CN105913692B (en) | 2018-06-29 |
Family
ID=56750453
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610395176.0A Expired - Fee Related CN105913692B (en) | 2016-06-06 | 2016-06-06 | A kind of method and system for monitoring service of flying |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105913692B (en) |
Cited By (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106292708A (en) * | 2016-10-09 | 2017-01-04 | 北京国泰北斗科技有限公司 | Unmanned plane avoidance obstacle method and device |
| CN106354153A (en) * | 2016-10-09 | 2017-01-25 | 北京国泰北斗科技有限公司 | Unmanned aerial vehicle flight control method and device |
| CN106803336A (en) * | 2017-03-09 | 2017-06-06 | 广州激速智能航空科技有限公司 | A kind of unmanned systems remote control and remote control thereof |
| CN107179778A (en) * | 2017-06-21 | 2017-09-19 | 四川九洲空管科技有限责任公司 | UAV Flight Control method and device with automatic dependent surveillance function |
| CN107943091A (en) * | 2017-12-25 | 2018-04-20 | 顺丰科技有限公司 | A kind of unmanned plane preventing collision method, control terminal, communication ends, actuating station and system |
| CN108401003A (en) * | 2017-02-08 | 2018-08-14 | 北京百度网讯科技有限公司 | Synchronous method, device, equipment and the computer storage media of radar data |
| CN108520641A (en) * | 2018-03-28 | 2018-09-11 | 北京中科远卓科技信息有限公司 | Low flyer army integrated operation managing and control system between the police and the people |
| CN108521802A (en) * | 2017-06-29 | 2018-09-11 | 深圳市大疆创新科技有限公司 | Control method, control terminal and the unmanned plane of unmanned plane |
| CN109143270A (en) * | 2018-08-27 | 2019-01-04 | 京信通信系统（中国）有限公司 | Positioning device and positioning system |
| US20190019420A1 (en) * | 2017-07-17 | 2019-01-17 | Verizon Patent And Licensing Inc. | Providing automatic dependent surveillance - broadcast data for unmanned aerial vehicles |
| CN109345877A (en) * | 2018-11-07 | 2019-02-15 | 安徽翼讯飞行安全技术有限公司 | A kind of civilian unmanned plane during flying control system |
| EP3438702A3 (en) * | 2017-08-03 | 2019-02-20 | Honeywell International Inc. | Position reporting for vehicles |
| CN109785670A (en) * | 2017-11-14 | 2019-05-21 | 北京航空航天大学 | A kind of low altitude airspace emergency managing and control system |
| CN109785462A (en) * | 2019-01-21 | 2019-05-21 | 南京航空航天大学 | Aircraft oil consumption computing system |
| CN109976375A (en) * | 2017-12-27 | 2019-07-05 | 冯登超 | A kind of city low altitude airspace traffic administration platform based on three-dimensional digital air corridor |
| CN110853411A (en) * | 2019-11-08 | 2020-02-28 | 上海交通大学 | Single pilot driving system and control method |
| CN111045060A (en) * | 2019-12-25 | 2020-04-21 | 中电科航空电子有限公司 | Ground monitoring system for aircraft position |
| CN111316340A (en) * | 2017-06-05 | 2020-06-19 | Wing航空有限责任公司 | Method and system for sharing unmanned aerial vehicle system database throughout airspace across multiple service providers |
| CN112311900A (en) * | 2020-11-20 | 2021-02-02 | 四川九洲空管科技有限责任公司 | Navigation monitoring method and system based on data flow distributed processing |
| CN112349151A (en) * | 2020-12-03 | 2021-02-09 | 中航空管系统装备有限公司 | Monitoring terminal, working method and monitoring system for unmanned aerial vehicle cloud system |
| CN112509381A (en) * | 2020-10-16 | 2021-03-16 | 广州飞图信息科技有限公司 | Visual display method and device for unmanned aerial vehicle route signal blind area |
| CN112700679A (en) * | 2020-12-09 | 2021-04-23 | 四川九洲空管科技有限责任公司 | Cooperative low-altitude airspace target monitoring system |
| CN113744571A (en) * | 2020-05-29 | 2021-12-03 | 青岛云世纪信息科技有限公司 | Access terminal for converting unmanned aerial vehicle flight parameter information into air traffic control information format |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109152087B (en) * | 2018-07-26 | 2022-02-11 | 同方电子科技有限公司 | Radio station-based extension method for friend or foe identification function |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2136222A1 (en) * | 2008-06-18 | 2009-12-23 | Saab Ab | Validity check of vehicle position information |
| CN101960502A (en) * | 2008-03-10 | 2011-01-26 | 泰雷兹Atm有限责任公司 | Arrangement and method for flight security and/or air traffic control of aircraft |
| CN103869822A (en) * | 2014-04-01 | 2014-06-18 | 西北工业大学 | Multiple-rotor-wing unmanned aerial vehicle sensing and avoiding system and avoiding method thereof |
| CN103927906A (en) * | 2014-04-29 | 2014-07-16 | 北京威胜通达科技有限公司 | Big Dipper autonomous navigation method based on Big Dipper short message and 4G communication mode |
| CN203786910U (en) * | 2014-04-29 | 2014-08-20 | 北京威胜通达科技有限公司 | Beidou low-altitude flight monitoring system |
| CN105070105A (en) * | 2015-07-29 | 2015-11-18 | 重庆赛乐威航空科技有限公司 | Low-altitude aircraft dynamic monitoring system |
| CN105227631A (en) * | 2015-05-28 | 2016-01-06 | 罗克韦尔柯林斯公司 | The system and method for the cloud system Network Based of generation support area, internal and international UAS |
| US9274521B1 (en) * | 2015-02-02 | 2016-03-01 | Rockwell Collins, Inc. | Employing local, opportunistic automatic dependent surveillance-broadcast (ADS-B) information processed by an unmanned aerial vehicle ground control station to augment other source “knowledge” of local aircraft position information for improving situational awareness |
-
2016
- 2016-06-06 CN CN201610395176.0A patent/CN105913692B/en not_active Expired - Fee Related
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101960502A (en) * | 2008-03-10 | 2011-01-26 | 泰雷兹Atm有限责任公司 | Arrangement and method for flight security and/or air traffic control of aircraft |
| CN104967473A (en) * | 2008-03-10 | 2015-10-07 | 泰勒斯阿莱尼亚空间德国有限公司 | Arrangement and method for flight security and/or air traffic control of aircraft |
| EP2136222A1 (en) * | 2008-06-18 | 2009-12-23 | Saab Ab | Validity check of vehicle position information |
| CN103869822A (en) * | 2014-04-01 | 2014-06-18 | 西北工业大学 | Multiple-rotor-wing unmanned aerial vehicle sensing and avoiding system and avoiding method thereof |
| CN103927906A (en) * | 2014-04-29 | 2014-07-16 | 北京威胜通达科技有限公司 | Big Dipper autonomous navigation method based on Big Dipper short message and 4G communication mode |
| CN203786910U (en) * | 2014-04-29 | 2014-08-20 | 北京威胜通达科技有限公司 | Beidou low-altitude flight monitoring system |
| US9274521B1 (en) * | 2015-02-02 | 2016-03-01 | Rockwell Collins, Inc. | Employing local, opportunistic automatic dependent surveillance-broadcast (ADS-B) information processed by an unmanned aerial vehicle ground control station to augment other source “knowledge” of local aircraft position information for improving situational awareness |
| CN105227631A (en) * | 2015-05-28 | 2016-01-06 | 罗克韦尔柯林斯公司 | The system and method for the cloud system Network Based of generation support area, internal and international UAS |
| CN105070105A (en) * | 2015-07-29 | 2015-11-18 | 重庆赛乐威航空科技有限公司 | Low-altitude aircraft dynamic monitoring system |
Cited By (30)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106354153A (en) * | 2016-10-09 | 2017-01-25 | 北京国泰北斗科技有限公司 | Unmanned aerial vehicle flight control method and device |
| CN106292708A (en) * | 2016-10-09 | 2017-01-04 | 北京国泰北斗科技有限公司 | Unmanned plane avoidance obstacle method and device |
| CN108401003A (en) * | 2017-02-08 | 2018-08-14 | 北京百度网讯科技有限公司 | Synchronous method, device, equipment and the computer storage media of radar data |
| CN108401003B (en) * | 2017-02-08 | 2021-01-22 | 北京百度网讯科技有限公司 | Radar data synchronization method, device, equipment and computer storage medium |
| CN106803336A (en) * | 2017-03-09 | 2017-06-06 | 广州激速智能航空科技有限公司 | A kind of unmanned systems remote control and remote control thereof |
| CN111316340A (en) * | 2017-06-05 | 2020-06-19 | Wing航空有限责任公司 | Method and system for sharing unmanned aerial vehicle system database throughout airspace across multiple service providers |
| CN111316340B (en) * | 2017-06-05 | 2023-03-07 | Wing航空有限责任公司 | Method and system for sharing unmanned aerial vehicle system database throughout airspace across multiple service providers |
| US11488484B2 (en) | 2017-06-05 | 2022-11-01 | Wing Aviation Llc | Methods and systems for sharing an airspace wide unmanned aircraft system database across a plurality of service suppliers |
| CN107179778A (en) * | 2017-06-21 | 2017-09-19 | 四川九洲空管科技有限责任公司 | UAV Flight Control method and device with automatic dependent surveillance function |
| CN108521802A (en) * | 2017-06-29 | 2018-09-11 | 深圳市大疆创新科技有限公司 | Control method, control terminal and the unmanned plane of unmanned plane |
| US11657722B2 (en) | 2017-07-17 | 2023-05-23 | Verizon Patent And Licensing Inc. | Providing automatic dependent surveillance-broadcast data for unmanned aerial vehicles |
| US20190019420A1 (en) * | 2017-07-17 | 2019-01-17 | Verizon Patent And Licensing Inc. | Providing automatic dependent surveillance - broadcast data for unmanned aerial vehicles |
| US10755586B2 (en) * | 2017-07-17 | 2020-08-25 | Verizon Patent And Licensing Inc. | Providing automatic dependent surveillance-broadcast data for unmanned aerial vehicles |
| US11270594B2 (en) | 2017-07-17 | 2022-03-08 | Verizen Patent and Licensing Inc. | Providing automatic dependent surveillance—broadcast data for unmanned aerial vehicles |
| EP3438702A3 (en) * | 2017-08-03 | 2019-02-20 | Honeywell International Inc. | Position reporting for vehicles |
| US10522046B2 (en) | 2017-08-03 | 2019-12-31 | Honeywell International Inc. | Position reporting for vehicles |
| CN109785670A (en) * | 2017-11-14 | 2019-05-21 | 北京航空航天大学 | A kind of low altitude airspace emergency managing and control system |
| CN107943091A (en) * | 2017-12-25 | 2018-04-20 | 顺丰科技有限公司 | A kind of unmanned plane preventing collision method, control terminal, communication ends, actuating station and system |
| CN109976375A (en) * | 2017-12-27 | 2019-07-05 | 冯登超 | A kind of city low altitude airspace traffic administration platform based on three-dimensional digital air corridor |
| CN108520641A (en) * | 2018-03-28 | 2018-09-11 | 北京中科远卓科技信息有限公司 | Low flyer army integrated operation managing and control system between the police and the people |
| CN109143270A (en) * | 2018-08-27 | 2019-01-04 | 京信通信系统（中国）有限公司 | Positioning device and positioning system |
| CN109345877A (en) * | 2018-11-07 | 2019-02-15 | 安徽翼讯飞行安全技术有限公司 | A kind of civilian unmanned plane during flying control system |
| CN109785462A (en) * | 2019-01-21 | 2019-05-21 | 南京航空航天大学 | Aircraft oil consumption computing system |
| CN110853411A (en) * | 2019-11-08 | 2020-02-28 | 上海交通大学 | Single pilot driving system and control method |
| CN111045060A (en) * | 2019-12-25 | 2020-04-21 | 中电科航空电子有限公司 | Ground monitoring system for aircraft position |
| CN113744571A (en) * | 2020-05-29 | 2021-12-03 | 青岛云世纪信息科技有限公司 | Access terminal for converting unmanned aerial vehicle flight parameter information into air traffic control information format |
| CN112509381A (en) * | 2020-10-16 | 2021-03-16 | 广州飞图信息科技有限公司 | Visual display method and device for unmanned aerial vehicle route signal blind area |
| CN112311900A (en) * | 2020-11-20 | 2021-02-02 | 四川九洲空管科技有限责任公司 | Navigation monitoring method and system based on data flow distributed processing |
| CN112349151A (en) * | 2020-12-03 | 2021-02-09 | 中航空管系统装备有限公司 | Monitoring terminal, working method and monitoring system for unmanned aerial vehicle cloud system |
| CN112700679A (en) * | 2020-12-09 | 2021-04-23 | 四川九洲空管科技有限责任公司 | Cooperative low-altitude airspace target monitoring system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105913692B (en) | 2018-06-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105913692A (en) | Flight monitoring service method and system thereof | |
| CN103927906B (en) | The method of Big Dipper independent navigation based on Big Dipper short message and 4G communication pattern | |
| US10302759B1 (en) | Automatic dependent surveillance broadcast (ADS-B) system with radar for ownship and traffic situational awareness | |
| US11263910B2 (en) | Very low level operations coordination platform | |
| CN103646569B (en) | A kind of general aviation low-altitude monitor and service system | |
| CN103592948B (en) | Unmanned plane flight collision avoidance method | |
| US7269513B2 (en) | Ground-based sense-and-avoid display system (SAVDS) for unmanned aerial vehicles | |
| CN104318809B (en) | Portable ADS-B mobile system with 3g function | |
| US9405005B1 (en) | Automatic dependent surveillance broadcast (ADS-B) system for ownership and traffic situational awareness | |
| CN203773355U (en) | Three-dimensional multi-image layer type unmanned aerial vehicle real-time positioning monitoring device | |
| CN202549080U (en) | Fusion system of radar data, flight plan data and ADS-B data | |
| CN103680215B (en) | Low-altitude aviation service station | |
| US7961136B2 (en) | Automatic dependent surveillance-broadcast (ADS-B) network infrastructure, ground station and situation display software deployment and evaluation activity | |
| US9310477B1 (en) | Systems and methods for monitoring airborne objects | |
| CN105676249B (en) | A kind of navigation aircraft communication navigation observ and method based on 4G/3G/BDS | |
| CN111835403B (en) | Space-air cooperative remote sensing system and information transmission method thereof | |
| US20140028485A1 (en) | Airspace risk mitigation system | |
| CN104750111A (en) | Flying monitoring system of unmanned aerial vehicle | |
| CN106341176B (en) | A kind of multiservice system based on multi-service ADS-B combined floor station owner's machine equipment | |
| CN109727493A (en) | Based on the unmanned plane monitoring system of integrated answering machine and its response, ADS-B OUT/IN method | |
| CN102375138B (en) | Radar track and flight information comprehensive display system | |
| CN110060515B (en) | GNSS-based aircraft monitoring system and method | |
| CN116405101B (en) | Monitoring, controlling and disposing system and method for low-altitude digital resource and digital infrastructure | |
| US11915597B1 (en) | System and method for unmanned aerial system (UAS) modernization for avoidance and detection | |
| CN105957405B (en) | The automatic broadcast monitoring system of all purpose aircraft state of flight and monitoring method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180629 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |