CN106250663A - A kind of Architecture simulation method based on quantum electronics description - Google Patents
A kind of Architecture simulation method based on quantum electronics description Download PDFInfo
- Publication number
- CN106250663A CN106250663A CN201610839678.8A CN201610839678A CN106250663A CN 106250663 A CN106250663 A CN 106250663A CN 201610839678 A CN201610839678 A CN 201610839678A CN 106250663 A CN106250663 A CN 106250663A
- Authority
- CN
- China
- Prior art keywords
- simulation model
- simulation
- calculation
- state
- time
- 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
- 238000004088 simulation Methods 0.000 title claims abstract description 220
- 238000000034 method Methods 0.000 title claims abstract description 70
- 238000004364 calculation method Methods 0.000 claims abstract description 97
- 230000008569 process Effects 0.000 claims abstract description 29
- 230000001149 cognitive effect Effects 0.000 claims description 50
- 238000001514 detection method Methods 0.000 claims description 17
- 230000005610 quantum mechanics Effects 0.000 claims description 16
- 230000005669 field effect Effects 0.000 claims description 14
- 238000012546 transfer Methods 0.000 claims description 5
- 239000000446 fuel Substances 0.000 claims description 3
- 238000004458 analytical method Methods 0.000 abstract description 4
- 230000001133 acceleration Effects 0.000 abstract description 2
- 230000006870 function Effects 0.000 description 12
- 238000010586 diagram Methods 0.000 description 10
- 230000000694 effects Effects 0.000 description 4
- 230000007123 defense Effects 0.000 description 3
- 230000007613 environmental effect Effects 0.000 description 2
- 238000011156 evaluation Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000010399 physical interaction Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 125000004122 cyclic group Chemical group 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 230000005684 electric field Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000003786 synthesis reaction Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Computer Hardware Design (AREA)
- Evolutionary Computation (AREA)
- Geometry (AREA)
- General Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
Abstract
本发明涉及一种基于量子力学描述的体系仿真方法,该方法包括定义仿真模型，对仿真模型进行时间推进计算，并对仿真模型进行状态更新，本发明利用量子力学思想重新定义仿真描述基础，规定了仿真模型的基本计算模块读取规则，形成一套支持QSS加速和多分支预测仿真的仿真方法，实现时间序列仿真并行运行，可以应用平行时空理论进行多分支仿真分析，在仿真过程中创建多个分支，全面分析各种可能性，该仿真方法具备了多分支仿真的能力，可以以任意时刻为起点，对不同决策结果、随机事件的影响进行仿真。
The present invention relates to a system simulation method based on quantum mechanical description. The method includes defining a simulation model, performing time-advance calculation on the simulation model, and updating the state of the simulation model. The reading rules of the basic calculation modules of the simulation model are formulated, and a set of simulation methods supporting QSS acceleration and multi-branch prediction simulation are formed to realize the parallel operation of time series simulation. The parallel space-time theory can be used for multi-branch simulation analysis, and multiple branches can be created during the simulation process. This simulation method has the ability of multi-branch simulation, and can start from any time to simulate the impact of different decision results and random events.
Description
技术领域technical field
本发明涉及一种基于量子力学描述的体系仿真方法，属于仿真技术领域。The invention relates to a system simulation method based on quantum mechanics description, belonging to the technical field of simulation.
背景技术Background technique
在武器装备体系对抗的仿真过程中，需要考虑信息化条件下集成式、联邦式的体系级网络中心战特点，需要在对复杂系统进行清晰、准确、灵活建模的基础上对体系对抗进行仿真。在现有的仿真评估系统中，需要对仿真系统功能进行进一步的规范和划分，提供有迭代关系的评估准备、运行、分析和综合组成的规范流程。当前的仿真模型和系统规范停留在应用层次，没有站在物理学基本描述的层次上定义仿真系统，存在一定的不完备性，导致了一系列应用问题，例如：仿真应用系统不能够应用动力学微分的思想进行时间片段仿真，难以实现多分支仿真；对于仿真数据的记录不完备；仿真模型的业务逻辑存在逻辑错误，读取或利用了不合理的输入数据等。In the simulation process of weapon equipment system confrontation, it is necessary to consider the characteristics of integrated and federal system-level network-centric warfare under the condition of informationization, and it is necessary to simulate system confrontation on the basis of clear, accurate and flexible modeling of complex systems . In the existing simulation evaluation system, it is necessary to further standardize and divide the functions of the simulation system, and provide a standardized process consisting of iterative evaluation preparation, operation, analysis and synthesis. The current simulation model and system specifications stay at the application level, and do not define the simulation system at the level of the basic description of physics. There is a certain incompleteness, which leads to a series of application problems, such as: the simulation application system cannot apply dynamics It is difficult to realize multi-branch simulation with the idea of differentiation for time segment simulation; the records of simulation data are incomplete; there are logical errors in the business logic of the simulation model, and unreasonable input data is read or used.
发明内容Contents of the invention
本发明的目的在于克服现有技术的上述缺陷，提供一种基于量子力学描述的体系仿真方法，该仿真方法具备了多分支仿真的能力，可以以任意时刻为起点，对不同决策结果、随机事件的影响进行仿真，大大减少仿真数据的容量需求，显著提高计算速度，同时可以有效减少仿真模型在环境计算过程中出现的作弊和人为错误。从根本上提供了统一仿真环境的手段。The purpose of the present invention is to overcome the above-mentioned defects of the prior art, and provide a system simulation method based on quantum mechanical description. The impact of simulation can be simulated, which greatly reduces the capacity requirement of simulation data, significantly improves the calculation speed, and can effectively reduce the cheating and human errors in the simulation model in the process of environmental calculation. Fundamentally, it provides the means to unify the simulation environment.
本发明的上述目的主要是通过如下技术方案予以实现的：Above-mentioned purpose of the present invention is mainly achieved through the following technical solutions:
一种基于量子力学描述的体系仿真方法，包括如下步骤：A system simulation method based on quantum mechanical description, comprising the following steps:
(1)、定义仿真模型，即对仿真模型在仿真空间中的属性进行定义，包括客观属性与主观属性，所述客观属性为对仿真模型物理状态的描述，所述主观属性为对仿真模型内部逻辑的描述；(1) Define the simulation model, that is, define the attributes of the simulation model in the simulation space, including objective attributes and subjective attributes, the objective attributes are the description of the physical state of the simulation model, and the subjective attributes are the internal simulation model logical description;
(2)、对仿真模型进行时间推进计算，并对仿真模型进行状态更新，具体包括如下步骤：(2) Carry out time advance calculation on the simulation model, and update the state of the simulation model, specifically including the following steps:
(2.1)、对仿真模型进行初始化，具体包括对仿真模型运行所依赖的硬件资源进行配置、对仿真模型的类型进行定义、在仿真模型应用程序中生成仿真模型变量的数据结构、配置仿真模型之间互相读取状态信息所需要的发布订阅关系、对仿真模型实例初始化并给仿真模型的态赋初值；(2.1) Initialize the simulation model, specifically including configuring the hardware resources on which the simulation model runs, defining the type of the simulation model, generating the data structure of the simulation model variables in the simulation model application program, and configuring the simulation model. The publish-subscribe relationship required to read the state information between each other, initialize the simulation model instance and assign the initial value to the state of the simulation model;
(2.2)、对仿真模型进行时间推进计算，所述时间推进计算过程依次包括：状态分支切换、外场效应计算、传感器Sn计算、控制器Cn计算和执行器计算；(2.2), carry out time advance calculation to simulation model, described time advance calculation process comprises in turn: state branch switching, external field effect calculation, sensor Sn calculation, controller Cn calculation and actuator calculation;
(2.3)将传感器、控制器和执行器的计算结果对仿真模型进行状态更新。(2.3) Update the state of the simulation model with the calculation results of sensors, controllers and actuators.
在上述基于量子力学描述的体系仿真方法中，步骤(1)中仿真模型物理状态包括位置、姿态、速度、惯量、质量、角速度、ROE状态、飞行工况、燃料量、弹药量、红外目标特性及电磁目标特性。In the above-mentioned system simulation method based on quantum mechanics description, the physical state of the simulation model in step (1) includes position, attitude, velocity, inertia, mass, angular velocity, ROE state, flight conditions, fuel quantity, ammunition quantity, infrared target characteristics and electromagnetic target properties.
在上述基于量子力学描述的体系仿真方法中，步骤(1)中仿真模型内部逻辑包括事件标志位和认知空间的所有属性，所述事件标志位包括探测结果、推测结果、猜测结果、被告知结果、驾驶命令、作战命令和信息中转；所述认知空间是指仿真模型对于仿真世界的认识所形成的属性空间，认知空间信息不能被该仿真模型实例以外的实例直接运用。In the above-mentioned system simulation method based on the description of quantum mechanics, the internal logic of the simulation model in step (1) includes event flags and all attributes of the cognitive space, and the event flags include detection results, guess results, guess results, informed Results, driving orders, combat orders, and information transfer; the cognitive space refers to the attribute space formed by the simulation model's understanding of the simulated world, and the cognitive space information cannot be directly used by instances other than the simulation model instance.
在上述基于量子力学描述的体系仿真方法中，认知空间包括被认知的仿真对象的属性和被认知的仿真世界的属性，其中被认知的仿真对象的属性包括被认知的仿真对象的客观状态和被认知的仿真对象的认知空间，被认知的仿真世界的属性包括预装订的外场参数和预设的物理原理。In the system simulation method described above based on quantum mechanics, the cognitive space includes the attributes of the recognized simulation object and the recognized attributes of the simulation world, wherein the attributes of the recognized simulation object include the recognized simulation object The objective state of the object and the cognitive space of the recognized simulation object, and the attributes of the recognized simulation world include pre-bound external field parameters and preset physical principles.
在上述基于量子力学描述的体系仿真方法中，步骤(2.2)中对仿真模型进行时间推进的具体方法包括如下步骤：In the above-mentioned system simulation method based on the description of quantum mechanics, the specific method for time advancing the simulation model in step (2.2) includes the following steps:
(2.2.1)、进行状态分支切换，具体为根据仿真模型的工况标志位进入规定的计算分支，所述工况标志位为仿真模型态矢量中的一个变量；(2.2.1), carry out state branch switching, be specifically to enter the calculation branch of regulation according to the working condition flag bit of simulation model, described working condition flag bit is a variable in the simulation model state vector;
(2.2.2)、在所述规定的计算分支中进行外场效应计算，采用场的方式进行计算，即特定的态在特定的场中有唯一确定的值，具体如下：(2.2.2) Perform the calculation of the external field effect in the specified calculation branch, and use the field method for calculation, that is, a specific state has a uniquely determined value in a specific field, as follows:
F＝f(AT)；F=f(A T );
其中：F为仿真模型实例所受的外场效应，包含受力、毁伤概率、和探测概率；AT为T时刻的仿真模型客观状态属性；f()为外场的计算函数；Among them: F is the external field effect suffered by the simulation model instance, including force, damage probability, and detection probability; AT is the objective state attribute of the simulation model at time T; f() is the calculation function of the external field;
(2.2.3)、在步骤(2.2.1)中规定的计算分支以及步骤(2.2.2)中计算的外场效应F之下，依次进行传感器计算、控制器计算和执行器计算；(2.2.3), under the calculation branch specified in step (2.2.1) and the external field effect F calculated in step (2.2.2), sequentially perform sensor calculation, controller calculation and actuator calculation;
(2.2.4)、根据步骤(2.2.3)中传感器、控制器和执行器的计算结果对仿真模型进行状态更新，完成一次时间推进计算，返回步骤(2.2.1)，进行下一周期的时间推进计算。(2.2.4), update the state of the simulation model according to the calculation results of the sensors, controllers and actuators in step (2.2.3), complete a time advance calculation, return to step (2.2.1), and proceed to the next cycle Time-advancing calculations.
在上述基于量子力学描述的体系仿真方法中，步骤(2.2.3)中传感器计算，即对探测结果On的计算，具体如下：In the above-mentioned system simulation method based on the description of quantum mechanics, the calculation of the sensor in step (2.2.3), that is, the calculation of the detection result On, is as follows:
On＝Sn(T1，T2...TM)On=Sn(T 1 , T 2 . . . T M )
其中：Sn()为传感器n的计算函数，T1，T2...TM分别为第1个、第2个......第M个被探测对象的态，On是传感器Sn的探测结果，其形式为仿真事件。Among them: Sn() is the calculation function of sensor n, T 1 , T 2 ... T M are respectively the state of the first, second ... Mth detected object, On is the sensor Sn The detection results of , in the form of simulated events.
在上述基于量子力学描述的体系仿真方法中，步骤(2.2.3)中控制器计算，即将T时刻的认知空间RT更新为T+1时刻的认知空间RT+1，在每一次时间推进过程中，控制器按照权限等级进行依次结算，从权限最低的控制器C1开始计算，直到计算权限最高的控制器Cn为止，具体公式如下：In the above-mentioned system simulation method based on the description of quantum mechanics, the controller calculates in step (2.2.3), that is, the cognitive space R T at time T is updated to the cognitive space R T+1 at time T+1 . During the time advancement process, the controllers make settlements in sequence according to the authority level, starting from the controller C1 with the lowest authority to calculate the controller Cn with the highest authority. The specific formula is as follows:
RT+1＝Cn(Cn-1(...C2(C1(RT，M1T、M2T....MnT)，M1T、M2T....MnT)，M1T、M2T....MnT)，M1T、M2T....MnT)R T+1 = Cn(Cn-1(...C2(C1(R T , M1 T , M2 T . . . Mn T ), M1 T , M2 T . . . Mn T ), M1 T , M2 T ....Mn T ), M1 T , M2 T ....Mn T )
其中：RT为T时刻的认知空间，RT+1为T+1时刻的认知空间，Cn()为控制器逻辑计算函数，M1T、M2T....MnT为T时刻仿真模型实例收到的全部主观属性事件，n为非负整数。Among them: R T is the cognitive space at time T, R T+1 is the cognitive space at time T+1, Cn() is the logic calculation function of the controller, M1 T , M2 T .... Mn T is the time T All subjective attribute events received by the simulation model instance, n is a non-negative integer.
在上述基于量子力学描述的体系仿真方法中，步骤(2.2.3)中执行器计算，即仿真模型客观状态属性的更新以及仿真模型产生的主观属性事件的发布，具体包括以下步骤：In the above-mentioned system simulation method based on the description of quantum mechanics, the actuator calculation in step (2.2.3), that is, the update of the objective state attributes of the simulation model and the release of the subjective attribute events generated by the simulation model, specifically includes the following steps:
(2.2.3.1)、根据仿真模型的客观状态属性和认知空间值进行解算，计算仿真模型在每一次时间推进目标点的状态值，具体如下：(2.2.3.1), calculate according to the objective state attributes and cognitive space values of the simulation model, and calculate the state value of the simulation model advancing the target point at each time, as follows:
AT+1＝Tick(AT,RT+1)A T+1 ＝Tick(A T ,R T+1 )
其中：RT+1为T+1时刻的认知空间，AT为T时刻的仿真模型客观状态属性，AT+1为T+1时刻的仿真模型客观状态属性，Tick()为执行器的解算函数；Among them: R T+1 is the cognitive space at T+1 time, A T is the objective state attribute of the simulation model at T time, A T+1 is the objective state attribute of the simulation model at T+1 time, Tick() is the actuator solution function;
(2.2.3.2)根据T+1时刻的仿真模型客观状态属性AT+1对仿真模型所产生的场进行更新；(2.2.3.2) Update the field generated by the simulation model according to the objective state attribute A T+1 of the simulation model at T+1 moment;
(2.2.3.3)、根据T+1时刻的认知空间的值RT+1，发布仿真模型在该次事件推进过程中产生的主观属性事件。(2.2.3.3). According to the value R T+1 of the cognitive space at time T+1 , release the subjective attribute event generated by the simulation model during the event advancement process.
本发明与现有技术相比具有如下有益效果：Compared with the prior art, the present invention has the following beneficial effects:
(1)、本发明利用量子力学思想重新定义仿真描述基础，规定了仿真模型的基本计算模块读取规则，形成一套支持QSS加速和多分支预测仿真的仿真方法，实现时间序列仿真并行运行，可以应用平行时空理论进行多分支仿真分析，在仿真过程中创建多个分支，全面分析各种可能性，该仿真方法具备了多分支仿真的能力，可以以任意时刻为起点，对不同决策结果、随机事件的影响进行仿真。(1), the present invention uses the idea of quantum mechanics to redefine the simulation description basis, stipulates the basic calculation module reading rules of the simulation model, forms a set of simulation methods that support QSS acceleration and multi-branch prediction simulation, and realizes the parallel operation of time series simulation, The theory of parallel time and space can be used for multi-branch simulation analysis, and multiple branches can be created in the simulation process to comprehensively analyze various possibilities. The effects of random events are simulated.
(2)、本发明仿真方法的数据记录达到物理上完备的程度，因此其数据记录是完备的，仿真系统的回放可以根据仿真的随机事件和决策事件进行分段，在每一个分段中不再回放数据而是重新进行仿真。这种特性可以大大减少仿真数据的容量需求。(2), the data recording of the emulation method of the present invention reaches the degree of being physically complete, so its data recording is complete, and the playback of the emulation system can be segmented according to the random events and decision-making events of the emulation, and in each segment, no Instead of replaying the data, the simulation is rerun. This feature can greatly reduce the capacity requirements for simulation data.
(3)、本发明仿真方法在每一次执行器计算和仿真回放的过程中，可以应用QSS方法实现并行化处理，显著提高计算速度。(3), the simulation method of the present invention can apply the QSS method to realize parallel processing in each process of actuator calculation and simulation playback, and significantly improve the calculation speed.
(4)、本发明仿真方法严格规定了外场(环境)效应计算模式，可以有效减少仿真模型在环境计算过程中出现的作弊和人为错误，从根本上提供了统一仿真环境的手段。(4), the simulation method of the present invention strictly stipulates the external field (environment) effect calculation mode, which can effectively reduce the cheating and human errors that occur in the simulation model in the environmental calculation process, and fundamentally provide a means of unifying the simulation environment.
(5)、本发明严格规定了传感器的读取权限，规范了传感器仿真过程；同时严格规定了控制器的运行逻辑，使得仿真模型可以应用复杂的控制器模型。(5) The present invention strictly stipulates the reading authority of the sensor, standardizes the simulation process of the sensor; at the same time strictly stipulates the operation logic of the controller, so that the simulation model can apply a complex controller model.
附图说明Description of drawings
图1为本发明仿真模型中客观属性描述示意图；Fig. 1 is a schematic diagram of objective attribute description in the simulation model of the present invention;
图2为本发明仿真模型中主观属性描述示意图，其中图2a为主观属性事件描述示意图；图2b为认知空间描述示意图。Fig. 2 is a schematic diagram of subjective attribute description in the simulation model of the present invention, wherein Fig. 2a is a schematic diagram of subjective attribute event description; Fig. 2b is a schematic diagram of cognitive space description.
图3为本发明仿真方法过程示意图。Fig. 3 is a schematic diagram of the process of the simulation method of the present invention.
具体实施方式detailed description
下面结合附图和具体实施例对本发明做进一步详细的描述：Below in conjunction with accompanying drawing and specific embodiment the present invention is described in further detail:
本发明基于量子力学描述的体系仿真方法，利用态矢量描述仿真应用系统在每一个时刻的状态，利用态转移的过程描述仿真时间推进。系统的梳理了模型的属性类型，定义了客观属性和主管属性。规定了模型应用的基本流程，确定了外场影响计算、传感器计算、控制器计算、执行器计算等基本步骤，规定了每一个步骤对于态的读写限制。构建了一套针对体系对抗仿真的完备的描述系统。可以实现基于模型实的基本逻辑关系和赛博空间想定动态生成发布订阅配置，可以利用QSS仿真方法进行仿真末态计算，实现时间序列仿真并行运行，可以应用平行时空理论进行多分支仿真分析，在仿真过程中创建多个分支，全面分析各种可能性。The present invention is based on the system simulation method described by quantum mechanics, uses the state vector to describe the state of the simulation application system at each moment, and uses the state transfer process to describe the simulation time advancement. The attribute types of the model are sorted out systematically, and the objective attributes and supervisory attributes are defined. The basic process of model application is stipulated, the basic steps such as external field influence calculation, sensor calculation, controller calculation, and actuator calculation are determined, and the read and write restrictions for each step are specified. A complete description system for system confrontation simulation is constructed. It can realize the dynamic generation of publishing and subscription configuration based on the basic logical relationship of the model and the cyberspace scenario, and can use the QSS simulation method to calculate the final state of the simulation, realize the parallel operation of the time series simulation, and use the parallel space-time theory to conduct multi-branch simulation analysis. Multiple branches are created during the simulation to fully analyze the possibilities.
在一个随时间变化的仿真应用系统中，用态来表示每一个时刻仿真系统的状态。仿真世界在T时刻的状态矢量包含每一个仿真模型的属性在T时刻的值。In a simulation application system that changes with time, the state is used to represent the state of the simulation system at each moment. The state vector of the simulation world at time T contains the value of each simulation model's attribute at time T.
仿真模型的属性包括两类：The properties of the simulation model fall into two categories:
一类为对模型本身物理状态的描述(客观属性)，是一种客观信息，其所有取值的可行域被称为实空间。模型本身的物理状态包括：位置、速度、姿态、重量、带电量等属性。客观属性满足正交、完备要求。受力等描述多个模型直接相互作用的物理量不属于模型客观属性，其效应通过场效应计算实现。外场的信息由仿真平台统一维护。One is the description of the physical state of the model itself (objective attributes), which is a kind of objective information, and the feasible domain of all its values is called the real space. The physical state of the model itself includes attributes such as position, speed, attitude, weight, and electrical charge. The objective attributes meet the requirements of orthogonality and completeness. Physical quantities that describe the direct interaction of multiple models, such as force, do not belong to the objective attributes of the model, and their effects are realized through field effect calculations. The information of the outfield is uniformly maintained by the simulation platform.
如图1为本发明仿真模型中客观属性描述示意图，由图可知仿真模型本身物理状态包括位置、姿态、速度、惯量、质量、角速度、ROE状态、飞行工况、燃料量、弹药量、红外目标特性及电磁目标特性。Figure 1 is a schematic diagram of the description of objective attributes in the simulation model of the present invention. It can be seen from the figure that the physical state of the simulation model itself includes position, attitude, speed, inertia, mass, angular velocity, ROE state, flight condition, fuel quantity, ammunition quantity, infrared target characteristics and electromagnetic target characteristics.
另一类分为对模型内部逻辑的描述(主观属性)，是一种模型的主观信息，其所有取值的可行域被称为认知空间。模型内部逻辑信息包括事件标志位和认知空间的所有属性。认知空间是指仿真模型对于仿真世界的认识所形成的属性空间。认知空间信息不能被本实例以外的实例直接运用。The other category is divided into the description of the internal logic of the model (subjective attribute), which is a kind of subjective information of the model, and the feasible domain of all its values is called the cognitive space. The internal logical information of the model includes event flags and all attributes of the cognitive space. Cognitive space refers to the attribute space formed by the simulation model's understanding of the simulated world. Cognitive spatial information cannot be used directly by instances other than this one.
如图2所示为本发明仿真模型中主观属性描述示意图，其中图2a为主观属性事件描述示意图；图2b为认知空间描述示意图，由图可知事件标志位包括探测结果、推测结果、猜测结果、被告知结果、驾驶命令、作战命令和信息中转；认知空间是指仿真模型对于仿真世界的认识所形成的属性空间，认知空间信息不能被本仿真模型实例以外的实例直接运用。As shown in Figure 2, it is a schematic diagram of subjective attribute description in the simulation model of the present invention, wherein Fig. 2a is a schematic diagram of subjective attribute event description; Fig. 2b is a schematic diagram of cognitive space description, and it can be seen from the figure that event flags include detection results, guessed results, and guessed results , being informed of results, driving orders, combat orders, and information transfer; cognitive space refers to the attribute space formed by the simulation model’s understanding of the simulated world, and the cognitive space information cannot be directly used by instances other than this simulation model instance.
所述认知空间包括被认知的仿真对象的属性和被认知的仿真世界的属性，其中被认知的仿真对象的属性包括被认知的仿真对象全部的客观状态和被认知的仿真对象的认知空间，被认知的仿真世界的属性包括与预装订的外场参数和预设的物理原理。The cognitive space includes the attributes of the recognized simulation object and the recognized attributes of the simulation world, wherein the attributes of the recognized simulation object include all the objective states of the recognized simulation object and the recognized simulation world. In the cognitive space of the object, the attributes of the simulated world to be recognized include pre-bound external field parameters and preset physical principles.
如图3所示为本发明仿真方法过程示意图，本发明基于量子力学描述的体系仿真方法具体包括如下步骤：As shown in Figure 3, it is a schematic diagram of the process of the simulation method of the present invention. The system simulation method described based on quantum mechanics in the present invention specifically includes the following steps:
(1)、定义仿真模型，即对仿真模型在仿真空间中的属性进行完备的定义，包括客观属性与主观属性，所述客观属性为对仿真模型本身物理状态的描述，所述主观属性为对仿真模型内部逻辑的描述。(1) Define the simulation model, that is, fully define the attributes of the simulation model in the simulation space, including objective attributes and subjective attributes, the objective attributes are the description of the physical state of the simulation model itself, and the subjective attributes are the description of the physical state of the simulation model itself A description of the internal logic of the simulation model.
(2)、对仿真模型进行时间推进计算，所述计算以态转移的方式进行，并对仿真模型进行状态更新，具体方法如下：(2) Carry out time advance calculation on the simulation model, the calculation is carried out in the mode of state transfer, and the state update of the simulation model is carried out, the specific method is as follows:
(2.1)、对仿真模型进行初始化，具体包括对仿真模型运行所依赖的硬件资源进行配置、对仿真模型的类型进行定义、在仿真模型应用程序中生成仿真模型变量的数据结构、配置仿真模型之间互相读取状态信息所需要的发布订阅关系、对仿真模型实例初始化并给仿真模型的态赋初值；(2.1) Initialize the simulation model, specifically including configuring the hardware resources on which the simulation model runs, defining the type of the simulation model, generating the data structure of the simulation model variables in the simulation model application program, and configuring the simulation model. The publish-subscribe relationship required to read the state information between each other, initialize the simulation model instance and assign the initial value to the state of the simulation model;
(2.2)、对仿真模型进行时间推进计算，时间推进为一个循环过程，每次逻辑时间推进时计算一次。按照状态分支切换、外场效应计算、传感器Sn计算(n为自然数)、控制器Cn计算(n为自然数)、执行器计算的固定顺序执行。(2.2) Carry out time advance calculation on the simulation model, the time advance is a cyclic process, and it is calculated once each time the logical time advances. It is executed in a fixed sequence of state branch switching, external field effect calculation, sensor Sn calculation (n is a natural number), controller Cn calculation (n is a natural number), and actuator calculation.
具体方法包括如下步骤：The specific method includes the following steps:
(2.2.1)、首先进行状态分支切换，具体为根据仿真模型的工况标志位进入规定的计算分支，所述工况标志位为仿真模型态矢量中的一个变量；(2.2.1), at first carry out state branch switching, be specifically to enter the calculation branch of regulation according to the working condition flag bit of simulation model, described working condition flag bit is a variable in the simulation model state vector;
(2.2.2)、在所述规定的计算分支中进行外场效应计算，采用场的方式进行计算，即特定的态在特定的场中有唯一确定的值，具体计算公式如下：(2.2.2) The calculation of the external field effect is performed in the specified calculation branch, and the calculation is performed in the form of a field, that is, a specific state has a uniquely determined value in a specific field, and the specific calculation formula is as follows:
F＝f(AT)；F=f(A T );
其中：其中：F为仿真模型实例所受的外场效应，包含受力、毁伤概率和探测概率；AT为T时刻的仿真模型客观状态属性；f()为外场的计算函数，例如重力场或电场表达函数。Among them: where: F is the external field effect on the simulation model instance, including force, damage probability and detection probability; A T is the objective state attribute of the simulation model at time T; f() is the calculation function of the external field, such as gravity field or Electric field expression function.
外场效应计算过程解算模型所受的所有物理相互作用，采用场的方式计算，即特定的态在特定的场中有唯一确定的值。在仿真过程中，重力、空气动力学效应、毁伤等物理相互作用均采用此方式实现。所有的仿真模型可以使用同一套外场环境计算函数库，实现仿真应用系统中环境模型的统一。The external field effect calculation process solves all the physical interactions that the model is subject to, and uses the field method to calculate, that is, a specific state has a uniquely determined value in a specific field. During the simulation, physical interactions such as gravity, aerodynamic effects, damage, etc. are implemented in this way. All the simulation models can use the same set of external environment calculation function library to realize the unification of the environment models in the simulation application system.
(2.2.3)、在步骤(2.2.1)中规定的计算分支以及步骤(2.2.2)中计算的外场效应F之下，依次进行传感器计算、控制器计算和执行器计算；(2.2.3), under the calculation branch specified in step (2.2.1) and the external field effect F calculated in step (2.2.2), sequentially perform sensor calculation, controller calculation and actuator calculation;
(2.2.3.1)、其中传感器计算，即对探测结果On的计算，具体公式如下：(2.2.3.1), where the sensor calculation is the calculation of the detection result On, the specific formula is as follows:
On＝Sn(T1，T2...TM)On=Sn(T 1 , T 2 . . . T M )
其中：Sn()为传感器n的计算函数，T1，T2...TM分别为第1个、第2个......第M个被探测对象的态，On是传感器Sn的探测结果，其形式为仿真事件。Among them: Sn() is the calculation function of sensor n, T 1 , T 2 ... T M are respectively the state of the first, second ... Mth detected object, On is the sensor Sn The detection results of , in the form of simulated events.
传感器计算是仿真模型的传感器对于仿真世界的探测过程，这是唯一可以订阅其他模型客观属性信息的计算单元。每一个仿真模型可以配备n个传感器。在每一次时间推进过程中依次计算。Sensor computing is the detection process of the simulated world by the sensor of the simulation model, which is the only computing unit that can subscribe to the objective attribute information of other models. Each simulation model can be equipped with n sensors. Calculated sequentially during each time advance.
(2.2.3.2)、控制器计算，即将T时刻的认知空间RT更新为T+1时刻的认知空间RT+1，在每一次时间推进过程中，控制器按照权限等级进行依次结算，从权限最低的C1开始计算，直到计算权限最高的控制器Cn为止，具体公式如下：(2.2.3.2) The controller calculates, that is, the cognitive space R T at time T is updated to the cognitive space R T+1 at time T+1 . During each time advancement process, the controller performs settlement in sequence according to the authority level , starting from C1 with the lowest authority until calculating the controller Cn with the highest authority. The specific formula is as follows:
RT+1＝Cn(Cn-1(...C2(C1(RT，M1T、M2T....MnT)，M1T、M2T....MnT)，M1T、M2T....MnT)，M1T、M2T....MnT)R T+1 = Cn(Cn-1(...C2(C1(R T , M1 T , M2 T . . . Mn T ), M1 T , M2 T . . . Mn T ), M1 T , M2 T ....Mn T ), M1 T , M2 T ....Mn T )
其中：RT为T时刻的认知空间，RT+1为T+1时刻的认知空间，Cn()为控制器逻辑计算函数，M1T、M2T....MnT为T时刻该仿真模型实例收到的全部主观属性事件，n为非负整数。Among them: R T is the cognitive space at time T, R T+1 is the cognitive space at time T+1, Cn() is the logic calculation function of the controller, M1 T , M2 T .... Mn T is the time T All subjective attribute events received by the simulation model instance, n is a non-negative integer.
在每一次时间推进过程中，控制器按照权限等级进行依次结算，从权限最低的C1开始执行，直到执行完权限最高的控制器Cn为止。其中每一层级的Ci计算过程中，都需要考虑该时刻全部的相关主观属性事件MnT，同时更新认知空间RT。下一层级的Ci+1计算过程中采用上一层机Ci更新过的认知空间RT，其余相关主观属性事件M1T、M2T....MnT不变。During each time advance process, the controllers make settlements in sequence according to the authority levels, starting from C1 with the lowest authority until the controller Cn with the highest authority is executed. In the calculation process of Ci at each level, all relevant subjective attribute events Mn T at that moment need to be considered, and the cognitive space R T should be updated at the same time. In the calculation process of Ci+1 at the next level, the cognitive space R T updated by the computer Ci at the previous level is used, and the other related subjective attribute events M1 T , M2 T . . . Mn T remain unchanged.
控制器计算对模型的主观特性进行仿真，处理模型的事件信息，构建并维护模型的认知空间。控制器计算不可以对任何模型的客观属性进行读写操作。在每一次时间推进过程中，控制器按照权限等级进行依次结算，从权限最低的C1开始执行，直到执行完权限最高的控制器Cn为止。The controller calculation simulates the subjective characteristics of the model, processes the event information of the model, and constructs and maintains the cognitive space of the model. Controller computations cannot read or write to any model objective attributes. During each time advance process, the controllers make settlements in sequence according to the authority levels, starting from C1 with the lowest authority until the controller Cn with the highest authority is executed.
(2.2.3.3)、执行器计算，即仿真模型客观状态属性的更新以及仿真模型产生的主观属性事件的发布，具体包括以下步骤：(2.2.3.3) Actuator calculation, that is, the update of the objective state attributes of the simulation model and the release of the subjective attribute events generated by the simulation model, specifically include the following steps:
(2.2.3.3.1)、根据仿真模型的客观状态属性和认知空间值进行解算，计算仿真模型在每一次时间推进目标点的状态值，具体公式如下：(2.2.3.3.1), calculate according to the objective state attributes and cognitive space values of the simulation model, and calculate the state value of the simulation model advancing the target point at each time, the specific formula is as follows:
AT+1＝Tick(AT,RT+1)A T+1 ＝Tick(A T ,R T+1 )
其中：RT+1为T+1时刻的认知空间，AT为T时刻的仿真模型客观状态属性，AT+1为T+1时刻的仿真模型客观状态属性，Tick()为执行器的解算函数，例如动力学积分。Among them: R T+1 is the cognitive space at T+1 time, A T is the objective state attribute of the simulation model at T time, A T+1 is the objective state attribute of the simulation model at T+1 time, Tick() is the actuator Solving functions for , such as kinetic integration.
(2.2.3.3.2)、根据T+1时刻的仿真模型客观状态属性AT+1对仿真模型所产生的场进行更新；(2.2.3.3.2), update the field generated by the simulation model according to the objective state attribute A T+1 of the simulation model at T+1 moment;
(2.2.3.3.3)、根据T+1时刻的认知空间的值RT+1，发布仿真模型在该次事件推进过程中产生的主观属性事件。(2.2.3.3.3). According to the value R T+1 of the cognitive space at time T+1 , release the subjective attribute event generated by the simulation model during the event advancement process.
(2.2.4)、根据步骤(2.2.3)中传感器、控制器和执行器的计算结果对仿真模型进行状态更新，完成一次时间推进计算，返回步骤(2.2.1)，进行下一周期的时间推进计算。(2.2.4), update the state of the simulation model according to the calculation results of the sensors, controllers and actuators in step (2.2.3), complete a time advance calculation, return to step (2.2.1), and proceed to the next cycle Time-advancing calculations.
实施例1Example 1
以一个区域防空体系对抗仿真应用系统为例进行描述，该系统包含红外制导防空导弹和来袭作战飞机两类仿真模型。Taking a regional air defense system confrontation simulation application system as an example to describe, the system includes two types of simulation models of infrared guided air defense missiles and incoming combat aircraft.
应用本发明提供的基于量子力学思想的体系仿真系统，实施步骤如下：Applying the system simulation system based on the idea of quantum mechanics provided by the present invention, the implementation steps are as follows:
应用模型定义语言，定义本系统的态模型，本系统的客观属性包含防空导弹的工况标志位、位置、速度、姿态，作战飞机的目标特性、工况标志位、位置、速度、姿态；本系统的主管属性包括导弹发射指令、导弹探测的目标信息、导弹的制导指令。Apply the model definition language to define the state model of the system. The objective attributes of the system include the working condition flag, position, speed, and attitude of the air defense missile, and the target characteristics, working condition flag, position, speed, and attitude of the combat aircraft; The supervisory attributes of the system include missile launching instructions, target information detected by missiles, and missile guidance instructions.
依据图3的流程编写两类仿真模型，根据想定设计一个特定的实验样本，该样本的初态信息包含上述态所描述的全部变量的值。设定初始时刻为0秒，仿真终止时刻为100秒，仿真步长1秒。Write two types of simulation models according to the process in Figure 3, and design a specific experimental sample according to the scenario. The initial state information of the sample includes the values of all variables described in the above states. Set the initial time as 0 seconds, the simulation termination time as 100 seconds, and the simulation step as 1 second.
两个模型程序分别启动运行，代表一个导弹实例和一个飞机实例。Two model programs are started and run respectively, representing a missile instance and an aircraft instance.
两个模型程序进行硬件平台初始化，设定硬件配置信息；The two model programs initialize the hardware platform and set the hardware configuration information;
两个模型程序根据想定分别实例化为飞机类和导弹类；The two model programs are instantiated as aircraft and missiles respectively according to scenarios;
两个模型程序分别生成模型对象；The two model programs generate model objects respectively;
导弹实例订阅飞机实例的位置、速度、姿态和目标特性信息。飞机实例无传感器，不订阅外部信息。The missile instance subscribes to the aircraft instance's position, velocity, attitude, and target characteristic information. Airplane instances are sensorless and do not subscribe to external information.
模型实例初始化，根据想定信息给两个模型实例的态赋初值。The model instance is initialized, and initial values are assigned to the states of the two model instances according to the scenario information.
仿真时间开始推进，从0秒开始，导弹工况为待机，飞机工况为巡航。导弹在待机工况下，传感器根据飞机的位置、姿态和目标特性信息和自身的位置、姿态信息进行可见性判断；如果可见性判断为真，则输出探测事件，包含目标的ID和位置信息；如果可见性判断为假，控制器不动作，执行器不动作。The simulation time starts to advance, starting from 0 seconds, the working condition of the missile is standby, and the working condition of the aircraft is cruising. When the missile is in standby mode, the sensor judges the visibility according to the position, attitude and target characteristic information of the aircraft and its own position and attitude information; if the visibility judgment is true, it outputs a detection event, including the ID and position information of the target; If the visibility is judged to be false, the controller does not act, and the actuator does not act.
30秒，飞机进入导弹探测范围，导弹传感器输出探测事件；导弹控制器根据探测事件在认知空间内建立目标模型，将认知空间中的下一时刻工况设置为火控解算状态；执行器根据认知空间中的下一时刻工况设置将工况标志位设置为火控解算状态。In 30 seconds, the aircraft enters the missile detection range, and the missile sensor outputs a detection event; the missile controller establishes a target model in the cognitive space according to the detection event, and sets the next moment working condition in the cognitive space as the fire control solution state; execute The controller sets the working condition flag bit to the fire control solution state according to the working condition setting at the next moment in the cognitive space.
31秒导弹模型进入火控解算状态分支，该分支无传感器计算；控制器进入火控解算状态，计算发射诸元，存入认知空间；完成计算后将认知空间的下一时刻工况设置为发射飞行；执行器根据认知空间的设置将工况设置为发射飞行，按照发射诸元计算下一时刻位置速度姿态。In 31 seconds, the missile model enters the branch of the fire control calculation state, which has no sensor calculation; the controller enters the fire control calculation state, calculates the launching elements, and stores them in the cognitive space; The operating condition is set to launch flight; the actuator sets the working condition to launch flight according to the setting of cognitive space, and calculates the position, velocity and attitude at the next moment according to the launching elements.
50秒导弹按照发射诸元飞行到飞机附近，执行器根据认知空间中发射诸元的设置将工况切换为爆炸，更新毁伤场数据表。毁伤场数据表是一个三维空间的概率函数，每一个仿真模型在每一次时间推进时查询自己所处位置的毁伤场值，如不为0则按照毁伤概率进行概率仿真，根据仿真结果决定是否将工况设置为摧毁。In 50 seconds, the missile flies to the vicinity of the aircraft according to the launching elements, and the actuator switches the working mode to explosion according to the setting of the launching elements in the cognitive space, and updates the damage field data table. The damage field data table is a probability function of a three-dimensional space. Each simulation model queries the damage field value of its location every time the time advances. If it is not 0, it performs probability simulation according to the damage probability, and decides whether to use The case is set to destroy.
51秒飞机的毁伤场计算结果为真，工况被设置为摧毁。In 51 seconds, the calculation result of the damage field of the aircraft is true, and the operating condition is set to destroy.
以上所述，仅为本发明最佳的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，可轻易想到的变化或替换，都应涵盖在本发明的保护范围之内。The above description is only the best specific implementation mode of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of changes or modifications within the technical scope disclosed in the present invention. Replacement should be covered within the protection scope of the present invention.
本发明说明书中未作详细描述的内容属于本领域专业技术人员的公知技术。The content that is not described in detail in the specification of the present invention belongs to the well-known technology of those skilled in the art.
Claims (8)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610839678.8A CN106250663B (en) | 2016-09-21 | 2016-09-21 | A System Simulation Method Based on Quantum Mechanics Description |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610839678.8A CN106250663B (en) | 2016-09-21 | 2016-09-21 | A System Simulation Method Based on Quantum Mechanics Description |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106250663A true CN106250663A (en) | 2016-12-21 |
| CN106250663B CN106250663B (en) | 2019-08-09 |
Family
ID=57600359
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610839678.8A Active CN106250663B (en) | 2016-09-21 | 2016-09-21 | A System Simulation Method Based on Quantum Mechanics Description |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106250663B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107729696A (en) * | 2017-11-21 | 2018-02-23 | 中国运载火箭技术研究院 | It is a kind of to be injured based on the LVC for injuring field or interference field or interference simulation method and system |
| CN110362258A (en) * | 2019-07-19 | 2019-10-22 | 航天科工网络信息发展有限公司 | A kind of interactive cooperation scenario system implementation method |
| CN113468713A (en) * | 2020-03-31 | 2021-10-01 | 顺丰科技有限公司 | Service simulation method and device, computer equipment and storage medium |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070129922A1 (en) * | 2005-12-01 | 2007-06-07 | Electronics And Telecommunications Research Institute | Satellite simulation system using component-based satellite modeling |
| CN103514321A (en) * | 2013-08-12 | 2014-01-15 | 北京理工大学 | General federal member applied to HLA distributed simulation method |
| CN103593516A (en) * | 2013-10-30 | 2014-02-19 | 中国运载火箭技术研究院 | Combat system modeling and simulation system |
| CN105812367A (en) * | 2016-03-15 | 2016-07-27 | 浙江神州量子网络科技有限公司 | Authentication system and authentication method of network access device in quantum network |
-
2016
- 2016-09-21 CN CN201610839678.8A patent/CN106250663B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070129922A1 (en) * | 2005-12-01 | 2007-06-07 | Electronics And Telecommunications Research Institute | Satellite simulation system using component-based satellite modeling |
| CN103514321A (en) * | 2013-08-12 | 2014-01-15 | 北京理工大学 | General federal member applied to HLA distributed simulation method |
| CN103593516A (en) * | 2013-10-30 | 2014-02-19 | 中国运载火箭技术研究院 | Combat system modeling and simulation system |
| CN105812367A (en) * | 2016-03-15 | 2016-07-27 | 浙江神州量子网络科技有限公司 | Authentication system and authentication method of network access device in quantum network |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107729696A (en) * | 2017-11-21 | 2018-02-23 | 中国运载火箭技术研究院 | It is a kind of to be injured based on the LVC for injuring field or interference field or interference simulation method and system |
| CN107729696B (en) * | 2017-11-21 | 2021-03-26 | 中国运载火箭技术研究院 | LVC damage or interference simulation method and system based on damage field or interference field |
| CN110362258A (en) * | 2019-07-19 | 2019-10-22 | 航天科工网络信息发展有限公司 | A kind of interactive cooperation scenario system implementation method |
| CN110362258B (en) * | 2019-07-19 | 2021-05-25 | 航天科工网络信息发展有限公司 | Method for realizing interactive collaborative scenario system |
| CN113468713A (en) * | 2020-03-31 | 2021-10-01 | 顺丰科技有限公司 | Service simulation method and device, computer equipment and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106250663B (en) | 2019-08-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Hong et al. | Energy-efficient online path planning of multiple drones using reinforcement learning | |
| CN106250663B (en) | A System Simulation Method Based on Quantum Mechanics Description | |
| US11562174B2 (en) | Multi-fidelity simulated data for machine learning | |
| CN116627157B (en) | Carrier rocket operation control method, device and equipment | |
| CN103942369B (en) | Intelligent target occurrence method oriented at near space | |
| CN114690790A (en) | GRU-based rapid identification method for guidance law of intercepted aircraft | |
| Kritsky et al. | Model for intercepting targets by the unmanned aerial vehicle | |
| US20220335175A1 (en) | Efficient creation of computer-generated force (cgf) entities using frequency response matrices | |
| CN115046433B (en) | Aircraft time collaborative guidance method based on deep reinforcement learning | |
| Hong et al. | Interoperation between engagement-and engineering-level models for effectiveness analyses | |
| CN113361196A (en) | Missile killing probability evaluation method, system, equipment and readable medium | |
| Levchenko et al. | Development of game modules with support for synchronous multiplayer based on Unreal Engine 4 using artificial intelligence approach | |
| Chen et al. | Deep cnn identifier for dynamic modelling of unmanned helicopter | |
| Soleyman et al. | Predictive modeling of aircraft dynamics using neural networks | |
| JP2008180784A (en) | Simulation apparatus | |
| Ranganathan et al. | Off-nominal event analysis in autonomous flights based on explainable artificial intelligence | |
| Ifrim et al. | REPLICATING IMPULSE-BASED PHYSICS ENGINE USING CLASSIC NEURAL NETWORKS. | |
| Chao et al. | Novelty accommodating multi-agent planning in high fidelity simulated open world | |
| Avatavului et al. | Can Neural Networks Enhance Physics Simulations? | |
| US20240362474A1 (en) | Behavior Estimation for Vehicle Management using Machine Learning Models | |
| El-Gabri et al. | Command guidance missile tracking algorithms evaluation based on visual simulation | |
| CN115562330B (en) | Unmanned aerial vehicle control method for inhibiting wind disturbance of quasi-field | |
| Needhi et al. | Modeling Missile Trajectory and Impact Dynamics with 6 Degree of Freedom Equations of Motion in Virtual Reality Simulation | |
| Sun et al. | Intelligent maneuvering decision system for computer generated forces using predictive fuzzy inference system | |
| US20250083834A1 (en) | Aircraft control system failure event search |
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 |