CN106872814A - A kind of naval equipment test diagnosis equipment - Google Patents
A kind of naval equipment test diagnosis equipment Download PDFInfo
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- CN106872814A CN106872814A CN201510919516.0A CN201510919516A CN106872814A CN 106872814 A CN106872814 A CN 106872814A CN 201510919516 A CN201510919516 A CN 201510919516A CN 106872814 A CN106872814 A CN 106872814A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/005—Testing of electric installations on transport means
- G01R31/008—Testing of electric installations on transport means on air- or spacecraft, railway rolling stock or sea-going vessels
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
- G01S7/4052—Means for monitoring or calibrating by simulation of echoes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/52004—Means for monitoring or calibrating
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
A kind of naval equipment test diagnosis equipment of the present invention, mainly includes：Main control computer, PXI tests extension set, spectrum measurement extension set, power test extension set, testing impedance extension set, sonar simulation signal generator, Simulated Signal Source of Radar and swing signal source.The present invention carries out external testing by naval equipment, improves the utilization rate of field level test resource, the Support funds of effectively save equipment.
Description
Art
The invention belongs to technical field of measurement and test, more particularly to a kind of naval equipment test diagnosis equipment.
Background technology
For a long time, vessels equipments site technology is ensured to rely primarily on and equips the built-in test function of itself
(BIT) field failure detection is carried out, by fault location to Field Replaceable Unit (LRU), and with random standby
Product spare part is changed, and is fixed a breakdown.With the increasingly raising of electronics technical sophistication degree, merely by machine
Interior test function is difficult to complete fault detect and integrity test.Complicated built-in test function is not only resulted in
Hardware cost is substantially increased, and can be decreased obviously the reliability of equipment.
The content of the invention
The invention provides a kind of external test facility that can realize carrier arming Fault Quick Diagnosis.
A kind of naval equipment test diagnosis equipment of the present invention, mainly includes：Main control computer, PXI tests
Extension set, spectrum measurement extension set, power test extension set, testing impedance extension set, sonar simulation signal generator, radar
Simulation signal generator and swing signal source.
Main control computer to PXI test extension set, spectrum measurement extension set, power test extension set, testing impedance extension set,
Sonar simulation signal generator, Simulated Signal Source of Radar and swing signal source are operated control, and to test feedback letter
Breath is collected, and collection information is processed according to set judgment rule, makes breakdown judge；
PXI test extension sets receive the control instruction of main control computer, complete low frequency in carrier arming single channel or multichannel
The frequency of signal, phase, waveform, power, bandwidth parameter test, and by above-mentioned test information transmission to master
Control computer is processed, and makes breakdown judge；
Spectrum measurement extension set is used to test radiofrequency signal, the spectral characteristic of radar intermediate frequency signal of shipborne radar；
Testing impedance extension set is used to test the testing impedance of sonar transducer；Power test extension set is mainly used in testing thunder
Up to intermediate frequency and the power of radio frequency；
Underwater sound signal characteristic, relative motion characteristic of the sonar signal source according to target and sonar receiver, and
Underwater operation ambient noise feature, is dynamically generated analogue echoes signal in real time；Main control computer computer controls sound
Signal source of receiving generates analogue echoes signal, and analogue echoes signal is sent to sonar receiver, and sonar is to analogue echoes
Signal is processed, and main control computer is obtained by receiving the message of sonar transmission and carrying out analysis and comparison
Sonar equipment state information；
Simulated Signal Source of Radar is mainly special with relative motion according to the characteristics of signals of target and radar receiver
Property, intermediate frequency analogue echoes signal is dynamically generated in real time；Main control computer control radar simulation signal generator is exported
Many batches of simulated target signals, are poured into radar by radar mean frequency interface, and main control computer receives radar and sends
Flight path message and carry out analysis and comparison, accident analysis is made to radar；
Swing signal source is, according to naval equipment servo-drive system test request, to produce simulation naval vessel pitching, horizontal stroke
Shake, course and log speed information signal；Main control computer control swing signal source output pitching, horizontal stroke
Shake, the signal of course and log speed, and transmit signals to naval equipment servo-drive system, warship
Load electronics servo-drive system receives signal and sends to main control computer, main control computer pair result
Naval equipment servo-drive system carries out accident analysis.
Preferably, PXI tests extension set is main is adopted by PXI test extension sets control module, multi-channel data
Collection module, DC voltage and current signal collection module, intermediate-freuqncy signal acquisition module composition；Multi-channel data
Acquisition module is mainly used in low-frequency ac signal or direct current signal in collection carrier arming；DC voltage and electric current
Signal acquisition module is mainly used in gathering Ship Equipment DC voltage and current signal；Intermediate-freuqncy signal acquisition module
It is mainly used in gathering Ship Equipment intermediate-freuqncy signal；PXI test extension set control modules receive main control computer control and refer to
Order, control multi-channel data acquisition module, DC voltage and current signal collection module, intermediate-freuqncy signal collection mould
Block data acquisition, and gathered data is transmitted to main control computer.
Preferably, PXI test extension sets interface channel extends extension set to extend the test that PXI tests extension set
Passage.
The present invention carries out external testing by naval equipment, improves the utilization of field level test resource
Rate, the Support funds of effectively save equipment.
Brief description of the drawings
Fig. 1 the structural representation of present invention；
Fig. 2 passages extend extension function block diagram；
Fig. 3 sonar simulation signal generator functional block diagrams；
Fig. 4 swing signal source functional block diagrams；
Fig. 5 radar targets build aerial survey examination block diagram；
Fig. 6 radar antenna rotating speed uniformity test block diagrams；
The preposition uniformity test block diagram of Fig. 7 sonars.
Specific embodiment
As shown in figure 1, a kind of naval equipment test diagnosis equipment of the invention, mainly includes：Master control meter
Calculation machine, PXI tests extension set, spectrum measurement extension set, power test extension set, testing impedance extension set, sonar simulation
Signal source, Simulated Signal Source of Radar and swing signal source.
When starting test assignment, control instruction is sent to each test extension set by main control computer by network, is surveyed
Examination extension set is according to instruction for tested equipment prepares output drive signal or carries out corresponding data acquisition.Test
Extension set returns to main control computer after having gathered initial data, and main control computer is according to set algorithm to data
Carry out calculating analysis, it was therefore concluded that.If the index exceeding standard of tested equipment, main control computer can call number
According to the equipment failure model library in storehouse, user is instructed to carry out fault location and auxiliary maintaining, until failture evacuation.
Control instruction is sent to sonar simulation signal generator, Simulated Signal Source of Radar by main control computer by network
And swing signal source, above-mentioned signal source generation analog signal, analog signal is inputed into tested equipment.Quilt
After test equipment receives signal again, make a response.Main control computer receives tested equipment feedback information, and
Carry out Treatment Analysis, it was therefore concluded that.
PXI test extension sets are main by PXI test extension sets control module, multi-channel data acquisition module, direct current
Pressure and current signal collection module, intermediate-freuqncy signal acquisition module are constituted；Multi-channel data acquisition module is mainly used
Low-frequency ac signal or direct current signal in carrier arming is gathered；DC voltage and current signal collection module master
To be made up of universal meter, for gathering Ship Equipment DC voltage and current signal, such as preceding confidence of sonar
Number, sonar there is the parameter such as signal；Intermediate-freuqncy signal acquisition module is mainly made up of oscillograph, for gathering warship
Ship equips intermediate-freuqncy signal, the power supply test of such as radar and sonar, radar vacuum tube high pressure (decay)
Test etc.；PXI tests extension set control module and receives main control computer control instruction by network interface, controls multichannel
Data acquisition module, DC voltage and current signal collection module, intermediate-freuqncy signal acquisition module data acquisition, and
Gathered data is transmitted to main control computer.
As shown in Fig. 2 when the signal way of tested equipment is more, extension set can be extended to PXI by passage
The TCH test channel for testing extension set is extended, for example, test the ginseng such as preposition uniformity, amplitude coincidence of sonar
It is frequently necessary to use passage to extend extension set during number.Passage extends extension set by control module and two switch module groups
Into.
Control module selects SCXI1600 modules, SCXI1600 modules to be received by usb bus and tested from PXI
The control signal of extension set control module, then by SCXI bus marco universal switch modules and high-voltage switch gear mould
Block.
Universal switch module makees 1 × 128 multiplexing configuration of two-wire from SCXI1130 switch modules, main
It is used to extend the acquisition channel that PXI tests extension set multi-channel data acquisition module.Universal switch module passes through
SCXI buses receive the control signal of control module, and the passage to multichannel output acquisition module is switched over.
Universal switch module makees 1 × 32 multiplexing configuration of two-wire from SCXI1127 switch modules, mainly
Acquisition channel for extending PXI test extension set DC voltages and current signal collection module.High voltage switching module
The control signal of control module is received by SCXI buses, DC voltage and current signal collection module are led to
Road is switched over.
Spectrum measurement extension set is used to test radiofrequency signal, the spectral characteristic of radar intermediate frequency signal of shipborne radar.
Testing impedance extension set is used to test the testing impedance of sonar transducer, mainly by signal source, data acquisition,
Phase detecting module, external interface module, human-machine interface module, test fixture and low-tension supply composition.
Power test extension set is mainly used in testing the power of radar mean frequency and radio frequency, mainly (can be with by power meter
From N1921A), power meter probe (can select 8481D), coaxial attenuator and three anti-cabinets constitute.
Underwater sound signal characteristic, relative motion characteristic of the sonar signal source according to target and sonar receiver, and
Underwater operation ambient noise feature, is dynamically generated analogue echoes signal in real time；Main control computer computer controls sound
Signal source of receiving generates analogue echoes signal, and analogue echoes signal is sent to sonar receiver, and sonar is to analogue echoes
Signal is processed, and main control computer is obtained by receiving the message of sonar transmission and carrying out analysis and comparison
Sonar equipment state information.
As shown in figure 3, sonar signal source mainly includes sonar signal source main control module, DSP module, D/A modules
And filtration module；Wherein, sonar signal source main control module receives main control computer instruction, the parameter that will be set
Send to DSP module；DSP module receives the parameter from main control module, and digital letter is formed by data processing
Number；The digital module that DSP module is formed is converted to analog signal through D/A modules；The filtered module of analog signal
Filter off High-frequency quantization noise and other out-of-band interferences.
Shipboard sonar is generally tens tunnels even signal transmitting and receiving passages in road up to a hundred, therefore sonar simulation signal generator pair
Answer multichannel D/A modules.
Main control module uses standard configuration, possesses the standard interfaces such as USB interface, standard serial port, Ethernet interface.
DSP module receives order, the parameter that main control module sends, and completes signal lag, signal transacting, data
The computings such as treatment, and complete to transmit data to D/A modules by system bus.LINK is used between DSP module
Mouth is communicated, and 60MB/S is not less than by the data transmission capabilities of bus and other modules.
D/A modules receive the data that DSP module is produced by data/address bus, and the numeral that DSP module is produced
Signal is converted into analog signal, by analog signal output to interface.Each D/A intermodules pass through bus, i.e. system
The firing line of bus, synchronizes.
D/A module technical characteristics：Many plate synchronous transfer mechanism are supported, not less than 12bit conversion accuracies,
Every block of plate provides 32 road voltage signal outputs, and 2048 sampled point FIFO may be selected DMA, interrupt or I/O data
Load mode, exports analogue signal amplitude ± 10V, with shorted to earth defencive function.Passage turnover rate
45KS/s~800KS/s, is varied from according to port number different update rate.
Filtration module is used for the analog signal filtering of D/A modules output, filters off High-frequency quantization noise and other bands are outer
Interference, there is 32 filtering channels in each module.
Simulation signal generator can complete signal amplitude regulation and output driving function, each mould with the interface of sonar
There are 32 passages on block.
The underwater acoustic models of simulation signal generator main analog include：Ship-radiated noise；Sonar active mode
The echo-signal of reception.
The simulation of ship-radiated noise：
Modern sonar treatment ship-radiated noise will also utilize line spectrum, envelope in addition to using broadband noise
The information such as spectrum.
Ship-radiated noise model：
G (t, f)=GL(f)+GX(f)+m(t)m(f)GX(f)
GLF () is low frequency spectrum lines
GXF () is stationary process continuous spectrum
M (t) is periodic modulation function, the temporal behavior of reflection radiated noise time-varying modulation spectrum, and m (f) is modulation
Depth, it is simply approximate with rectangular function.
The emulation of active echo and investigation pulse signal：
Frequency accuracy reaches 0.1 ‰, and harmonic constant is less than -50db.
LFM signal Mathematical Modelings
t∈[0,T]
M=Δ ω M/tM
A amplitudes in formula, T is pulsewidth, angular frequency centered on ω, and M is frequency modulation rate
PCW signal Mathematical Modelings
t∈[0,T]
HFM signal Mathematical Modelings
F (t)=Asin [ω/K*Ln (1-k*t/fs)]
Simulated Signal Source of Radar is mainly special with relative motion according to the characteristics of signals of target and radar receiver
Property, intermediate frequency analogue echoes signal is dynamically generated in real time；Main control computer control radar simulation signal generator is exported
Many batches of simulated target signals, are poured into radar by radar mean frequency interface, and main control computer receives radar and sends
Flight path message and carry out analysis and comparison, accident analysis is made to radar；
Simulated Signal Source of Radar is mainly used in the object run flight path according to customization to check the target of shipborne radar
The overall performance index such as tracking accuracy, tracking stability.It is main by radar that radar target builds aerial survey examination
Build boat range accuracy, build boat orientation progress, build boat lot number tested, radar overall performance index is carried out
Judge.Main control computer exports many batches of simulated target signals by in-house network line traffic control Simulated Signal Source of Radar,
Poured into radar by radar mean frequency interface, then main control computer is by outside netting twine reception Radar Displaying Console platform transmission
Flight path message and carry out analysis and comparison, by drawn after calculating radar build boat range accuracy, build boat side
Boat lot number and is built at precision in position.
Swing signal source is, according to naval equipment servo-drive system test request, to produce simulation naval vessel pitching, horizontal stroke
Shake, course and log speed information signal；Main control computer control swing signal source output pitching, horizontal stroke
Shake, the signal of course and log speed, and transmit signals to naval equipment servo-drive system, warship
Load electronics servo-drive system receives signal and sends to main control computer, main control computer pair result
Naval equipment servo-drive system carries out accident analysis.
The function of swing signal source is to simulate naval vessel pitching, rolling, course and log according to test request
Navigational speed information, for naval equipment provides artificial debugging means.By swing signal source provide pitching,
Rolling, course analog signal, can test naval vessel stabilized platform swing angle and error.
As shown in figure 4, swing signal source includes swing signal source control module, FPGA module and course, the speed of a ship or plane,
Pitching, rolling unit composition.Swing signal source control module realizes function, PC104 chips by PC104 chips
Control command from main control computer is received by RS232 serial ports or Ethernet, and order is handed down to
FPGA module.FPGA module as bus manager, the command simulation step that can be assigned according to PC104 chips,
It is sinusoidal, the multi-motion attitude such as be incremented by, and be handed down in the form of data signal course, the speed of a ship or plane, pitching,
Rolling unit.Course, the speed of a ship or plane, pitching, rolling unit realize function by DSC chips, course, the speed of a ship or plane, vertical
Shake, the data signal that rolling unit issues FPGA module is converted into high-precision simulation letter by DSC chips
Number, i.e. the attitude signal on naval vessel is exported to tested equipment.In general, naval equipment is conventional leads
Boat information includes naval vessel pitch angle, roll angle, course angle and navigational speed information, the general interface shape in naval vessel point
It is analog interface and digital interface.Analog interface form is high with its reliability, and Long line transmission characteristic is good, in warship
It is widely used on ship.Selsyn mode is used analog interface more.
Selsyn interface includes the output signal of a pair of excited signals and three 120 ° of differences, and signal is represented such as
Under：
VS1-S3=KV0sin θ
VS3-S2=KV0sin (+120 ° of θ)
VS2-S1=KV0sin (+240 ° of θ)
Wherein VO=E0sin ω t, are excited signal.
So-called DSC, i.e. Digital Synchro Converte, can easily by computer shape using DSC
Into simulated digital attitude signal be converted to simulation selsyn signal, realize the emulation work(of ship gesture signal
Energy.
Embodiment 1
The major function performance index of Radar Sonar can be tested by the present invention, and carry out failure and examined
Disconnected and auxiliary maintaining.The main test index of radar is tested including primary triggering pulse, clock reference signal is tested,
Emitter output radiofrequency signal is tested, the three-level high voltage power supply of emitter two is tested, receiver microwave signal is tested,
Intermediate-freuqncy signal test, frequency synthesizer local oscillation signal are tested, target builds aerial survey examination, noise coefficient is tested, steady
Fixed platform rolling error test etc..The main test index of sonar include the test of sonar preposition amplitude coincidence,
Preceding phase uniformity test, precondition frequency test, the test of transmiting signal source centre frequency, transmiting signal source
Pulsewidth test, the test of transmitting power amplifier, the test of basic matrix array element, signal transacting performance test etc..Below to comparing
Typical several test modes are illustrated.
It is main by building boat range accuracy, build boat orientation progress, build boat to radar that radar target builds aerial survey examination
Lot number is tested, and radar overall performance index is judged.
Main control computer exports many batches of simulated target signals by in-house network line traffic control Simulated Signal Source of Radar, leads to
Radar mean frequency interface is crossed to pour into radar, the boat that then main control computer is sent by outside netting twine reception radar
Mark message simultaneously carries out analysis and comparison, by drawn after calculating radar build boat range accuracy, build boat orientation essence
Spend and build boat lot number.
Embodiment 2
Radar antenna rotating speed uniformity is an important indicator for judging radar servo system stability.The present invention
By main control computer control PXI test extension set gather servo-drive system due north signal and carry out computing go out thunder
Up to antenna rotation rate uniformity index.After connecting main control computer and PXI test extension sets, setting antenna rotation rate is N0,
The multiple channel test data acquisition module of main control computer control PXI test extension sets reads due north pulse signal 10, and
From first pulse timing, the time is T.Calculate antenna rotation rate inhomogeneities.
Antenna rotation rate uniformity=[1-600/ (T × N0)] × 100%
Compare with standard index after calculating result, draw test result.
Embodiment 3
The preposition coincident indicator of sonar is received for sonar and the quality of transmission signal has very big influence.It is logical
Extension set is tested by main control computer, sonar signal source, PXI with test diagnosis equipment, passage extension extension set can
Tested with to the preposition uniformity of sonar.Main control computer controls sonar simulation signal generator outputting standard multichannel
Pumping signal is injected from the top of the preposition module of sonar；Simultaneously control PXI test extension set and passage extend extension set from
The signal output part of preposition module is acquired, and the initial data that test extension set will be collected returns to master control meter
Calculation machine carries out calculating analysis, so as to obtain the preposition coincident indicator of tested sonar.
Claims (3)
1. a kind of naval equipment test diagnosis equipment, mainly includes：Main control computer, PXI tests point
Machine, spectrum measurement extension set, power test extension set, testing impedance extension set, sonar simulation signal generator, radar mould
Intend signal source and swing signal source；
Main control computer to PXI test extension set, spectrum measurement extension set, power test extension set, testing impedance extension set,
Sonar simulation signal generator, Simulated Signal Source of Radar and swing signal source are operated control, and to test feedback letter
Breath is collected, and collection information is processed according to set judgment rule, makes breakdown judge；
PXI test extension sets receive the control instruction of main control computer, complete low frequency in carrier arming single channel or multichannel
The frequency of signal, phase, waveform, power, bandwidth parameter test, and by above-mentioned test information transmission to master
Control computer is processed, and makes breakdown judge；
Spectrum measurement extension set is used to test radiofrequency signal, the spectral characteristic of radar intermediate frequency signal of shipborne radar；
Testing impedance extension set is used to test the testing impedance of sonar transducer；Power test extension set is mainly used in testing thunder
Up to intermediate frequency and the power of radio frequency；
Underwater sound signal characteristic, relative motion characteristic of the sonar signal source according to target and sonar receiver, and
Underwater operation ambient noise feature, is dynamically generated analogue echoes signal in real time；Main control computer computer controls sound
Signal source of receiving generates analogue echoes signal, and analogue echoes signal is sent to sonar receiver, and sonar is to analogue echoes
Signal is processed, and main control computer is obtained by receiving the message of sonar transmission and carrying out analysis and comparison
Sonar equipment state information；
Simulated Signal Source of Radar is mainly special with relative motion according to the characteristics of signals of target and radar receiver
Property, intermediate frequency analogue echoes signal is dynamically generated in real time；Main control computer control radar simulation signal generator is exported
Many batches of simulated target signals, are poured into radar by radar mean frequency interface, and main control computer receives radar and sends
Flight path message and carry out analysis and comparison, accident analysis is made to radar；
Swing signal source is, according to naval equipment servo-drive system test request, to produce simulation naval vessel pitching, horizontal stroke
Shake, course and log speed information signal；Main control computer control swing signal source output pitching, horizontal stroke
Shake, the signal of course and log speed, and transmit signals to naval equipment servo-drive system, warship
Load electronics servo-drive system receives signal and sends to main control computer, main control computer pair result
Naval equipment servo-drive system carries out accident analysis.
2. a kind of naval equipment test diagnosis equipment according to claim 1, it is characterised in that
PXI test extension sets it is main by PXI test extension sets control module, multi-channel data acquisition module, DC voltage and
Current signal collection module, intermediate-freuqncy signal acquisition module composition；Multi-channel data acquisition module is mainly used in adopting
Low-frequency ac signal or direct current signal in collection carrier arming；DC voltage and current signal collection module are mainly used
In collection Ship Equipment DC voltage and current signal；Intermediate-freuqncy signal acquisition module is mainly used in collection naval vessel dress
Standby intermediate-freuqncy signal；PXI test extension set control modules receive main control computer control instruction, control multi-channel data
Acquisition module, DC voltage and current signal collection module, intermediate-freuqncy signal acquisition module data acquisition, and will adopt
Collect data transfer to main control computer.
3. a kind of naval equipment test diagnosis equipment according to claim 2, it is characterised in that
PXI test extension set interface channels extend extension set to extend the TCH test channel that PXI tests extension set.
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Cited By (5)
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| CN106887174A (en) * | 2015-12-15 | 2017-06-23 | 西安富成防务科技有限公司 | A kind of Radar Signal Processing teaching platform |
| RU2700799C1 (en) * | 2018-12-25 | 2019-09-23 | Российская Федерация, От Имени Которой Выступает Министерство Промышленности И Торговли Российской Федерации | Method for determining the resource of shipborne radio electronic equipment |
| WO2020057542A1 (en) * | 2018-09-19 | 2020-03-26 | 西安高压电器研究院有限责任公司 | Short-circuit breaking test system for marine appliances |
| CN113341386A (en) * | 2021-05-26 | 2021-09-03 | 中国电子科技集团公司第二十研究所 | Radar frequency synthesizer detection device based on PXI bus |
| CN113741262A (en) * | 2021-08-27 | 2021-12-03 | 天津新松智能科技有限公司 | Ship control system |
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