CN106950550A - Based on the high dynamic deviation On-line Estimation method adjudicated across fuzzy interval under the equal hazy condition of ranging and range rate - Google Patents
Based on the high dynamic deviation On-line Estimation method adjudicated across fuzzy interval under the equal hazy condition of ranging and range rate Download PDFInfo
- Publication number
- CN106950550A CN106950550A CN201710205136.XA CN201710205136A CN106950550A CN 106950550 A CN106950550 A CN 106950550A CN 201710205136 A CN201710205136 A CN 201710205136A CN 106950550 A CN106950550 A CN 106950550A
- Authority
- CN
- China
- Prior art keywords
- target
- estimation
- high dynamic
- fuzzy
- radial velocity
- 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 31
- 238000005259 measurement Methods 0.000 claims abstract description 51
- 238000001914 filtration Methods 0.000 claims description 9
- 238000004458 analytical method Methods 0.000 claims description 4
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 238000009499 grossing Methods 0.000 claims description 2
- 238000005070 sampling Methods 0.000 claims description 2
- 238000012360 testing method Methods 0.000 claims description 2
- 238000012545 processing Methods 0.000 abstract description 15
- 230000000694 effects Effects 0.000 abstract description 5
- 238000011160 research Methods 0.000 abstract description 4
- 230000035772 mutation Effects 0.000 abstract description 3
- 238000001514 detection method Methods 0.000 description 9
- 238000009825 accumulation Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 239000002131 composite material Substances 0.000 description 2
- 239000011159 matrix material Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 238000002592 echocardiography Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 238000001228 spectrum Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- 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
-
- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S13/583—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets
- G01S13/584—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets adapted for simultaneous range and velocity measurements
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention belongs to radar signal and data processing field, problem is estimated in real time for ranging, the high dynamic deviation tested the speed under equal hazy condition, is proposed a kind of based on the high dynamic deviation On-line Estimation method adjudicated across fuzzy interval.In the research to this problem, first, using the method apart from difference, target radial speed estimation not in the same time is obtained；Secondly, the radial velocity to adjacent moment carries out mutation judgement, finds out the radial velocity estimation across fuzzy interval, and it is compensated；Then, median filter process is carried out to multiple radial velocities estimation after compensation, to obtain velocity solution blur measurement；Finally, On-line Estimation is carried out apart from time-delay deviation to high dynamic using velocity solution blur measurement.This method can effectively solve the high dynamic estimation of deviation problem under the equal hazy condition of ranging and range rate, and have preferable effect when target motion is across fuzzy interval.
Description
Technical Field
The invention relates to the field of radar signal and data processing, and aims to solve the problem of high dynamic deviation real-time estimation under the condition of range finding and speed measuring ambiguity.
Background
In the research of early warning and detection of hypersonic speed targets in the adjacent space, LFM signals are widely selected by the current radar system due to the advantage of large time-bandwidth product. However, in the research of using LFM signals to early-warning and detecting an object in the near space, there is a certain dynamic deviation in radar measurement due to the distance-velocity coupling. The deviation may not be considered when the target radial velocity is small, but when the target has a large radial velocity, the radar detection and tracking performance of the target may be seriously affected. For this reason, how to realize the estimation of the high dynamic bias is a key problem which needs to be solved urgently at present.
In the research on high dynamic deviation estimation, the existing documents are mostly established under the assumption that radar measurement is not ambiguous, and the problems of ranging and speed measurement ambiguity in the detection of a high supersonic speed target in an adjacent space are not fully considered. On one hand, under the condition of radar ranging ambiguity, the return moments of different echoes cannot be effectively identified, and further the radar cannot lock the specific position information of the target; on the other hand, under the condition of radar speed measurement ambiguity, the speed measurement is confused due to the frequency spectrum overlapping phenomenon, and further the effective speed information of the target cannot be obtained. Particularly, under the condition that the target moves across the fuzzy interval, the composite influence of radar ranging and speed measurement fuzzy has important influence on the estimation and compensation of high dynamic deviation. However, studies on this aspect have not been found in the prior art.
Therefore, the invention provides an online high-dynamic deviation estimation method under the condition of range finding and speed measurement, which aims to mainly solve the difficult problem of high-dynamic deviation estimation when target motion crosses a fuzzy interval.
Disclosure of Invention
Aiming at the difficult problem of high dynamic deviation estimation under the condition of range finding and speed measurement ambiguity, the method for estimating the high dynamic deviation on line based on the cross-ambiguity interval judgment is provided. Firstly, obtaining target radial velocity estimation at different moments by using a distance difference method; secondly, carrying out mutation judgment on the radial speed of adjacent moments, finding out the estimation of the radial speed across the fuzzy interval, and compensating the estimation; then, carrying out median filtering processing on the compensated multiple radial velocity estimates to obtain velocity ambiguity resolution measurement; and finally, carrying out online estimation on the high-dynamic distance delay deviation by using the speed ambiguity resolution measurement. The method can effectively solve the problem of high dynamic deviation estimation under the condition of range finding and speed measuring blur, and has a good effect when the target motion crosses the blur interval.
The invention solves the technical problem, and adopts the technical scheme that the steps are as follows:
step 1: under the condition of fuzzy distance measurement and speed measurement, target radial velocity estimation at multiple moments is obtained by using a distance difference method;
satisfy when considering that the target motion does not cross the fuzzy interval
Wherein r (k) is the target blur measurement, and R (k) is the target non-blur measurement. Then the radial velocity estimate of the target at multiple time instances can be expressed as
Where T is the sampling interval and m is the number of times.
Step 2: on the basis of obtaining the radial velocity estimation at a plurality of moments, judging whether the target motion crosses the fuzzy interval, and compensating the velocity estimation information crossing the fuzzy interval on the basis.
Considering target radial velocity estimationIn the crossAnd the condition that the target is far away from the radar is satisfied when the fuzzy interval is not crossed (the condition that the target is far away from the radar is taken as an example)
Wherein R ismaxFor maximum unambiguous range, R when the target moves away from the radarmaxIs positive, R when the target moves towards the radarmaxIs negative; then a statistical decision quantity can be constructed
Furthermore, the problem of whether the target motion at the time k crosses the fuzzy interval can be further analyzed and judged by the following hypothesis test:
H0if η (i)>λ, the target motion crosses the fuzzy interval;
H1if η (i) is less than or equal to lambda, the target motion does not cross the fuzzy interval.
Wherein, λ is a speed sudden change judgment threshold and satisfies 0<λ<Rmax/T。
At this time, when the target motion does not cross the fuzzy interval, the radial velocity is estimatedNo treatment is carried out; when the target motion crosses the fuzzy interval, the following compensation is carried out:
and step 3: and on the basis of the measurement compensation of the cross-fuzzy interval, smoothing the target radial velocity estimation at a plurality of moments by using a median filtering method so as to further obtain the velocity-resolved fuzzy measurement of the target.
1) The method using median filtering willAnd sorting according to the sequence from small to large, and selecting the sorted middle value as the median value estimation of the target radial speed.
2) Combine the above median estimate to further obtain a deblurred measure of the target radial velocity
Wherein,is a deblurred measure of the target radial velocity, vamb(k) For the ambiguity speed measured by the radar,for a median estimate of the target radial velocity, vmaxIs the radar maximum unambiguous speed.
And 4, step 4: and compensating the high-dynamic distance delay deviation by using the speed ambiguity resolution measurement.
Obtaining velocity deblurring measurementsBased on the distance and the speed, the highly dynamic distance delay deviation estimation can be obtained through the coupling analysis of the distance and the speed
The beneficial effects of the invention are illustrated as follows: the invention processes radar measurement data by utilizing a recursive HT-TBD technology, performs recursive real-time update processing on an accumulation matrix and a storage array on the basis of obtaining an initial accumulation matrix and the storage array, not only can utilize the detection result of the previous moment to the maximum extent, improve the arithmetic efficiency of the algorithm and reduce the calculated amount, but also can realize real-time detection on the target, avoid missing detection of the target and have better detection effect.
And 5: and (4) repeating the steps 1-4 along with the time until all measurement processing is finished so as to realize the real-time estimation processing of the high dynamic deviation.
The beneficial effects of the invention are illustrated as follows: (1) the invention can effectively realize high dynamic deviation compensation processing under the condition of uniform ambiguity of distance measurement and speed measurement by using a method of combining distance difference and median filtering; (2) the method can be used for carrying out real-time on-line estimation on the high dynamic deviation, does not need to carry out complex distance ambiguity resolution, and can effectively realize effective estimation on the high dynamic deviation only by using single-repetition frequency ambiguity distance measurement.
Drawings
FIG. 1 is a flow chart of the method steps of the present invention;
FIG. 2 is a graph of the effect of the high dynamic bias of the present invention on radar detection;
FIG. 3 is a graph of the effect of high dynamic bias + measurement ambiguity on radar detection in accordance with the present invention;
FIG. 4 is a graph of the target radial velocity estimation results obtained by the distance differencing process of the present invention;
FIG. 5 is a graph of the radial velocity compensation results of the cross-ambiguity region processing of the present invention;
FIG. 6 is a graph of the radial velocity estimation results of the median filtering and velocity deblurring of the present invention;
FIG. 7 is a diagram of the high dynamic bias real-time estimation result of the present invention.
Detailed Description
The high dynamic deviation online estimation method under the condition of range measurement and velocity measurement blur is described below with reference to the accompanying drawings.
The implementation conditions are as follows: assuming that the initial position of the hypersonic target in the near space is 300km,300km,20km, the flying speed is 5000m/s, and the flying direction is 30 degrees off the west in the north. Accordingly, the position of the observation radar is [0km,0km,0km ], the radar wavelength is λ 0.15m, the chirp signal width is τ 600 μ s, the chirp bandwidth is B1.5 MHz, the distance, azimuth and pitch measurement errors of the radar are 100m, 0.1 ° and 0.1 °, respectively, and the observation period is 1 s. Referring to the attached figure 1, the specific implementation steps are as follows:
(1) the radar detects a target by using an LFM signal to obtain 30 frames of measurement data, wherein the influence of high dynamic deviation and measurement blurring on target measurement is shown in the attached figures 2 and 3;
(2) according to the step 1, carrying out difference processing on the fuzzy distance measurement of the targets at the adjacent moments to obtain target radial velocity estimation at a plurality of moments, wherein the target moves across fuzzy intervals in a 14 th frame, which is specifically shown in fig. 4;
(3) according to the step 2, through speed mutation judgment, finding out the radial speed of the cross-fuzzy interval appearing in the 14 th frame, and compensating the radial speed, wherein the radial speed is specifically shown in the attached figure 5;
(4) according to the step 3, performing median filtering processing on each radial velocity estimation, and obtaining a velocity deblurring measurement of the target on the basis, wherein the velocity deblurring measurement is specifically shown in the attached figure 6;
(5) according to step 4, the high dynamic bias is estimated by using the velocity deblurring measurement, which is specifically shown in fig. 7.
As can be seen from the analysis of fig. 2 and fig. 3, the high dynamic deviation causes the target measurement to deviate from the real track of the target seriously, and the measurement ambiguity not only causes the position of the target measurement to deviate, but also splits the complete target measurement into two segments, so that the detection performance of the radar is seriously affected by the composite influence of the high dynamic deviation and the measurement ambiguity; as can be seen from the analysis of fig. 4, the distance difference processing at adjacent times generates a large radial velocity jump when the target moves across the fuzzy interval, that is, the distance difference processing cannot be directly used to compensate the high dynamic deviation, and further processing is required; as can be seen from fig. 5, by detecting and compensating the abrupt change of the speed, the influence caused by the motion of the target across the fuzzy interval can be effectively eliminated; as can be seen from fig. 6, relatively smooth target radial velocity measurement can be effectively obtained through median filtering and velocity-deblurring processing of the target measurement; finally, as can be seen from fig. 7, the real-time estimation of the high dynamic deviation can be effectively realized by using the target radial velocity after the velocity deblurring processing.
Claims (5)
1. The high dynamic deviation online estimation method based on cross-fuzzy interval judgment under the condition of both ranging and speed measurement fuzzy is characterized by comprising the following steps of:
step 1: under the condition of fuzzy distance measurement and speed measurement, target radial velocity estimation at multiple moments is obtained by using a distance difference method;
step 2: on the basis of obtaining the radial velocity estimation at a plurality of moments, judging whether the target motion crosses a fuzzy interval, and compensating the radial velocity estimation crossing the fuzzy interval on the basis;
and step 3: on the basis of compensating the radial velocity estimation of the cross-fuzzy interval, smoothing the radial velocity estimation of a plurality of moments by using a median filtering method so as to further obtain the velocity deblurring measurement of the target;
and 4, step 4: and compensating the high-dynamic distance delay deviation by using the speed ambiguity resolution measurement.
2. The high dynamic bias online estimation method according to claim 1, characterized in that the following method is specifically adopted in step 1:
satisfy when considering that the target motion does not cross the fuzzy interval
Wherein, r (k) is the target fuzzy measurement, and R (k) is the target non-fuzzy measurement; then the radial velocity estimate of the target at multiple time instances can be expressed as
Where T is the sampling interval and m is the number of times.
3. The high dynamic bias online estimation method according to claim 1, characterized in that the following method is specifically adopted in step 2:
considering target radial velocity estimationWhen crossing and not crossing the fuzzy interval, respectively satisfy
Wherein R ismaxTo the maximum unambiguous distance, a statistical decision quantity can be constructed
Furthermore, the problem of whether the target motion at the time k crosses the fuzzy interval can be further analyzed and judged by the following hypothesis test:
H0if η (i)>λ, the target motion crosses the fuzzy interval;
H1if η (i) is less than or equal to lambda, the target movesNo fuzzy interval is crossed;
wherein, λ is a speed sudden change judgment threshold and satisfies 0<λ<Rmax/T；
At this time, when the target motion does not cross the fuzzy interval, the radial velocity is estimatedNo treatment is carried out; when the target motion crosses the fuzzy interval, the following compensation is carried out:
4. the high dynamic bias online estimation method according to claim 1, characterized in that the following method is specifically adopted in step 3:
1) the method using median filtering willSorting according to the sequence from small to large, and selecting the sorted middle value as the median value estimation of the target radial velocity
2) Combine the above median estimate to further obtain a deblurred measure of the target radial velocity
Wherein,is a deblurred measure of the target radial velocity, vamb(k) For the ambiguity speed measured by the radar,for a median estimate of the target radial velocity, vmaxIs the radar maximum unambiguous speed.
5. The high dynamic bias online estimation method according to claim 1, characterized in that, the following method is specifically adopted in step 4:
obtaining velocity deblurring measurementsBased on the distance-speed coupling analysis, the high dynamic deviation can be completed
Real-time online estimation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710205136.XA CN106950550B (en) | 2017-03-31 | 2017-03-31 | High dynamic deviation on-line estimation method based on cross-fuzzy interval judgment under condition of range finding and speed measuring ambiguity |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710205136.XA CN106950550B (en) | 2017-03-31 | 2017-03-31 | High dynamic deviation on-line estimation method based on cross-fuzzy interval judgment under condition of range finding and speed measuring ambiguity |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106950550A true CN106950550A (en) | 2017-07-14 |
| CN106950550B CN106950550B (en) | 2020-03-03 |
Family
ID=59473900
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710205136.XA Active CN106950550B (en) | 2017-03-31 | 2017-03-31 | High dynamic deviation on-line estimation method based on cross-fuzzy interval judgment under condition of range finding and speed measuring ambiguity |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106950550B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110726988A (en) * | 2019-10-30 | 2020-01-24 | 中国人民解放军海军航空大学 | Distance and speed fuzzy mutual solution method for detecting hypersonic target by PD radar |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102565784A (en) * | 2012-01-04 | 2012-07-11 | 西安电子科技大学 | Method of moving-target relocation and velocity ambiguity resolution based on velocity synthetic aperture radar (VSAR) system |
| CN105301584A (en) * | 2015-12-07 | 2016-02-03 | 中国人民解放军海军航空工程学院 | IPPHDF maneuvering multi-target tracking method of simultaneously solving range ambiguities |
| CN105652258A (en) * | 2016-03-15 | 2016-06-08 | 中国人民解放军海军航空工程学院 | Hypersonic speed target detecting method for polynomial Radon-polynomial Fourier transform |
| CN105911542A (en) * | 2016-07-04 | 2016-08-31 | 中国人民解放军海军航空工程学院 | Hypersonic velocity target TBD detection method for polynomial Hough conversion |
| CN106353744A (en) * | 2016-10-28 | 2017-01-25 | 中国人民解放军信息工程大学 | Multi-parameter combined estimation method based on bi-static FDA-MIMO radars |
-
2017
- 2017-03-31 CN CN201710205136.XA patent/CN106950550B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102565784A (en) * | 2012-01-04 | 2012-07-11 | 西安电子科技大学 | Method of moving-target relocation and velocity ambiguity resolution based on velocity synthetic aperture radar (VSAR) system |
| CN105301584A (en) * | 2015-12-07 | 2016-02-03 | 中国人民解放军海军航空工程学院 | IPPHDF maneuvering multi-target tracking method of simultaneously solving range ambiguities |
| CN105652258A (en) * | 2016-03-15 | 2016-06-08 | 中国人民解放军海军航空工程学院 | Hypersonic speed target detecting method for polynomial Radon-polynomial Fourier transform |
| CN105911542A (en) * | 2016-07-04 | 2016-08-31 | 中国人民解放军海军航空工程学院 | Hypersonic velocity target TBD detection method for polynomial Hough conversion |
| CN106353744A (en) * | 2016-10-28 | 2017-01-25 | 中国人民解放军信息工程大学 | Multi-parameter combined estimation method based on bi-static FDA-MIMO radars |
Non-Patent Citations (1)
| Title |
|---|
| 张翔宇 等: "LFM雷达对临近空间高超声速目标的跟踪研究", 《电子学报》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110726988A (en) * | 2019-10-30 | 2020-01-24 | 中国人民解放军海军航空大学 | Distance and speed fuzzy mutual solution method for detecting hypersonic target by PD radar |
| CN110726988B (en) * | 2019-10-30 | 2021-08-27 | 中国人民解放军海军航空大学 | Distance and speed fuzzy mutual solution method for detecting hypersonic target by PD radar |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106950550B (en) | 2020-03-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103885057B (en) | Adaptive strain sliding window multi-object tracking method | |
| CN105093215B (en) | Tracking based on the radar of doppler information to low-altitude low-velocity small targets | |
| CN101498788B (en) | Target rotation angle estimating and transverse locating method for inverse synthetic aperture radar | |
| CN103439697B (en) | Target detection method based on dynamic programming | |
| CN102147468B (en) | Bayesian theory-based multi-sensor detecting and tracking combined processing method | |
| KR101628154B1 (en) | Multiple target tracking method using received signal strengths | |
| CN106405537B (en) | Radar track initial mode based on location information and doppler information | |
| CN101452075B (en) | At-sea small target detecting method based on average period | |
| CN102621542B (en) | Track method before locomotive weak target detection based on multimode grain filtering and data association | |
| CN107576959B (en) | High repetition frequency radar target tracking method before detection based on area mapping deblurring | |
| CN107843892A (en) | A kind of high-speed target Doppler velocity measurement method based on least square method | |
| CN106443598A (en) | Convolutional neural network based cooperative radar network track deception jamming discrimination method | |
| CN104237879A (en) | Multi-target tracking method in radar system | |
| CN110058222B (en) | Double-layer particle filter tracking-before-detection method based on sensor selection | |
| CN109100696A (en) | Microinching target removing method based on point clutter figure | |
| CN106291498A (en) | A kind of detecting and tracking combined optimization method based on particle filter | |
| CN112146648A (en) | Multi-target tracking method based on multi-sensor data fusion | |
| CN111562570A (en) | Vehicle sensing method for automatic driving based on millimeter wave radar | |
| CN107064865A (en) | The passive co-located method of polar coordinates Dynamic Programming clustered based on depth | |
| CN102879774A (en) | Method and apparatus for synthesizing short flight paths | |
| CN113960587B (en) | Millimeter wave radar multi-target tracking method based on category information feedback | |
| CN112907975B (en) | Detection method for abnormal parking based on millimeter wave radar and video | |
| CN106950550B (en) | High dynamic deviation on-line estimation method based on cross-fuzzy interval judgment under condition of range finding and speed measuring ambiguity | |
| CN105353353B (en) | Multiple search particle probabilities assume the multi-object tracking method of density filtering | |
| CN105353352B (en) | The MM PPHDF multiple-moving target tracking methods of improved search strategy |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20200207 Address after: 264001 Research and Academic Department, 188 Erma Road, Zhifu District, Yantai City, Shandong Province Applicant after: Naval Aviation University of PLA Address before: 264001 Yantai City, Zhifu Province, No. two road, No. 188, Department of research, Applicant before: Naval Aeronautical Engineering Institute PLA |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |