CN108052116B - Automatic verification system and method for vertical navigation guidance mode of flight management system - Google Patents
Automatic verification system and method for vertical navigation guidance mode of flight management system Download PDFInfo
- Publication number
- CN108052116B CN108052116B CN201711298996.9A CN201711298996A CN108052116B CN 108052116 B CN108052116 B CN 108052116B CN 201711298996 A CN201711298996 A CN 201711298996A CN 108052116 B CN108052116 B CN 108052116B
- Authority
- CN
- China
- Prior art keywords
- flight
- data
- simulated
- module
- simulation module
- 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.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Traffic Control Systems (AREA)
- Navigation (AREA)
Abstract
The invention relates to an automatic verification system for a vertical navigation guidance mode of a flight management system, which belongs to the technical field of avionic control and comprises a flight environment simulation module, a flight management module, a non-avionic system simulation module and the like. The vertical navigation guidance mode automatic verification system of the flight management system simulates the whole flight process of the airplane by using the flight environment module, has the functions of autonomous take-off and landing of the airplane, roll keeping, pitch keeping, altitude selection, course keeping, course selection, glide slope selection, waypoint navigation and the like, can realize automatic guidance of the airplane, can verify the reliability and the correctness of the airplane management system in a ground test environment, and has the characteristics of reduced cost, high efficiency and the like.
Description
Technical Field
The invention belongs to the technical field of avionic control, and particularly relates to a vertical navigation guidance mode automatic verification system and method of a flight management system.
Background
The flight management system is an important component of a modern avionic system, and determines the current position state information of an airplane through a navigation device sensor, so that the future horizontal track and vertical track of the airplane are predicted, and the airplane is guided to fly accurately. Are now widely used on civil and military aircraft.
The vertical navigation function of the flight management system is used for conducting guidance calculation in the flying state of an airplane, the working modes are numerous, the condition triggering is complex, and how to verify the correctness of the function in a ground laboratory becomes an important problem, particularly how to automatically verify the function is more important.
Disclosure of Invention
The invention aims to provide a vertical navigation guidance mode automatic verification system and method of a flight management system, which are used for verifying the reliability and correctness of an airplane management system in a ground test environment, reducing the cost and improving the efficiency.
In order to achieve the purpose, the invention adopts the technical scheme that: a vertical navigation guidance mode automatic verification system of a flight management system comprises
The flight environment simulation module simulates the dynamics characteristic, the kinematics characteristic and the atmospheric environment characteristic of a simulated airplane, a flight control system, an automatic flight control system and a power system of the airplane, and outputs simulated flight data, simulated state data and simulated environment data of the airplane;
the flight management module receives the flight data, the state data and the environment data generated by the flight environment simulation module, calculates the guiding deviation data between the flight management module and a preset flight path, and inputs the guiding deviation data into the flight environment simulation module to generate an airplane control instruction;
the non-avionic system simulation module receives simulated flight data, simulated state data and simulated environment data generated by the flight environment simulation module, compares the simulated flight data, the simulated state data and the simulated environment data with standard data, simulates a working mode instruction of the flight management module, and transmits the working mode instruction to the flight environment simulation module and the flight management module;
the flight environment simulation module enters a corresponding working mode according to the working mode instruction, the flight management module outputs a guide instruction according to the working mode instruction and transmits the guide instruction to the flight environment simulation module, and the flight environment simulation module completes tracking according to the guide instruction to realize correction of the corresponding working mode.
Further, the aircraft flight control system comprises an ARINC429 bus monitor, wherein the ARINC429 bus monitor the state of the flight management module, guide data are generated, guide instructions are generated, and the guide instructions are transmitted to the flight environment simulation module.
The flight environment simulation system further comprises an AFDX bus monitor, wherein the AFDX bus monitor collects sensor data output by the flight environment simulation module, converts data formats and transmits the sensor data to the flight management module.
Further, the flight management module loads a flight plan for defining a flight path.
The flight environment simulation system further comprises a data recording and analysis module, wherein the data recording and analysis module records simulated flight data, simulated state data and simulated environment data generated by the flight environment simulation module, guide data generated by the flight management module and working mode instructions generated by the non-avionic system simulation module.
The invention also provides an automatic verification method for the vertical navigation guidance mode of the flight management system, which comprises the following steps
Firstly, a flight environment simulation module simulates the dynamic characteristics, the kinematics characteristics and the atmospheric environment characteristics of a simulated airplane, a flight control system, an automatic flight control system and a power system of the airplane, and outputs simulated flight data, simulated state data and simulated environment data of the airplane;
secondly, the flight management module receives flight data, state data and environment data generated by the flight environment simulation module, calculates guiding deviation data between the flight management module and a preset flight path, and inputs the guiding deviation data into the flight environment simulation module to generate an airplane control command;
thirdly, when the flight management module receives data generated by the flight environment simulation module and transmits the guide deviation data to an airplane control instruction of the flight environment simulation module, the non-avionic system simulation module also receives simulated flight data, simulated state data and simulated environment data generated by the flight environment simulation module and compares the simulated flight data, the simulated state data and the simulated environment data with standard data, simulates a working mode instruction of the flight management module, and transmits the working mode instruction to the flight environment simulation module and the flight management module;
and fourthly, the flight environment simulation module enters a corresponding working mode according to the working mode instruction, the flight management module outputs a guide instruction according to the working mode instruction and transmits the guide instruction to the flight environment simulation module, and the flight environment simulation module completes tracking according to the guide instruction to realize correction of the corresponding working mode.
Further, in the first aspect, the AFDX bus monitor is used for transmitting simulated flight data, simulated state data, and simulated environment data of the aircraft, and the AFDX bus monitor is further used for acquiring sensor data output by the flight environment simulation module and converting a data format.
Further, in the second aspect, the means for communicating the guidance deviation data to the flight environment simulation module is an ARINC429 bus monitor, and the ARINC429 bus monitor is further configured to monitor the status of the flight management module and generate the guidance instruction.
Further, the flight management module loads a flight plan for defining a flight path.
Furthermore, in the first to fourth processes, the data recording and analyzing module is used for recording simulated flight data, simulated state data and simulated environment data generated by the flight environment simulation module, guidance data generated by the flight management module and working mode instructions generated by the non-avionic system simulation module.
The system and the method for automatically verifying the vertical navigation guidance mode of the flight management system simulate the whole flight process of the airplane by utilizing the flight environment module, have the functions of autonomous take-off and landing of the airplane, roll holding, pitch holding, altitude selection, course holding, course selection, glide slope selection, waypoint navigation and the like, and can realize the automatic guidance of the airplane.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
FIG. 1 is a block diagram of an automated verification system of the present invention.
Detailed Description
In order to make the implementation objects, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be described in more detail below with reference to the accompanying drawings in the embodiments of the present invention.
The invention provides a flight management system vertical navigation guidance mode automatic verification system and a method thereof.
The flight management module is served by a flight management computer, the flight environment simulation module is served by flight environment software installed in a PC computer, the non-avionics system simulation module is specifically a non-avionics system simulator, a data bus is AFDX bus data and ARINC429 bus data, and the data storage and analysis module is data recording and analysis software installed in the PC computer.
The flight environment software runs on a Windows system, and the flight management computer runs on a Vxworks operating system, so that data transmission from the Windows system to the Vxworks system and data transmission from the Vxworks system to the Windows system in the opposite direction need to perform reverse-order transmission on the data to be transmitted.
In the system with the structure, computer simulation data output by flight environment software installed on the PC is sent to a flight management computer residing on the IPC through the AFDX simulation board card. Simulation data output by a computer is converted into AFDX bus data through an AFDX simulation board card, the simulation data are packaged and validity judgment is carried out according to an AFDX bus simulation protocol during data conversion, and therefore data can be transmitted to a flight management computer (Vxworks end) from flight environment software (Windows end).
On the contrary, ARINC429 data output by the flight management computer is sent to flight environment simulation software through a 429 simulation board. The data output by the flight management computer is ARINC429 bus data, the bus data are analyzed and validity judgment is carried out on the data at the Windows end according to an ARINC429 bus simulation protocol, and therefore the data can be transmitted to flight environment software (the Windows end) from the flight management computer (the Vxworks end).
The simulation data of the non-avionic system simulator is converted through the bus and sent to the flight management computer, and meanwhile, the non-avionic system simulator converts the simulation data through the bus and sends the simulation data to the flight environment software. Because the flight management computer runs on a Vxvorks operating system, and the non-avionics system simulator runs on a Windows operating system, the data output by the non-avionics system simulator needs to be subjected to RS232 bus packaging and then to reverse order transmission.
And the AFDX bus monitor sends the monitored data to data recording and analyzing software. The data recorded by the data recording and analyzing software are stored according to a time sequence, and a number is given to each data list, and the data lists are indexed through the numbers. Data recording and analysis software analysis process: aiming at the following test case (when the airplane reaches the air pressure altitude of 2000m, the airplane should enter the automatic level flight mode), the data recording and analyzing software searches a vertical navigation guidance mode command sent by a non-avionic system by using an index to see whether the command is the level flight command or not, meanwhile, the air pressure altitude of the airplane is continuously judged, if the vertical navigation guidance mode command is the level flight mode, whether the altitude of the airplane is finally changed to (1990, 2010) or not is judged, and if the vertical navigation guidance mode command is the level flight mode, the success is shown.
And starting the flight management computer, and simultaneously opening the flight environment software, the non-avionics system simulator, the data recording and analyzing software, the AFDX bus monitor and the ARINC429 bus monitor.
And configuring the initial takeoff parameter information of the airplane on the flight environment software. The initialized takeoff parameters comprise initial longitude, initial latitude, initial altitude, initial heading, initial speed, initial airplane configuration, flight control mode and the like of the airplane, and the information of the takeoff parameters is shown in a table 1:
TABLE 1 Takeoff parameter information Table
| Initial longitude | 109 |
| Initial latitude | 34 |
| Initial height | 5 |
| Initial heading | 10 |
| Initial velocity | 0 |
| Take-off configuration | 1 |
The test case is operated on the flight management computer, that is, a flight plan SD1 existing in the navigation database is input as (WP001, WP002, WP003, WP004, WP005, WP006, WP007) as shown in table 2 below:
TABLE 2 flight Schedule SD1
Selecting a program for entering and leaving the field, inputting takeoff parameters, and predicting a vertical air route by a flight management computer, wherein the takeoff parameters of the embodiment are as follows in the following table 3:
TABLE 3 takeoff parameters
| Aircraft weight | 110 ton of |
| Flap position | 15 degrees |
| Ambient temperature | 10 degree |
| V1 | 200Km/h |
| V2 | 200Km/h |
| VR | 220Km/h |
| Cruising altitude | 6000m |
Then, running flight environment software, enabling the airplane to take off autonomously, starting to enter an automatic flight mode, and using a pitching holding mode and a rolling 0-degree holding mode when the indicated airspeed of the airplane does not reach 200 Km/h; after the indicated airspeed of the airplane reaches 200Km/h, the flight environment software starts to carry out horizontal navigation and vertical navigation modes, namely, the information such as the current yaw distance, the track angle deviation, the vertical guide parameters and the like output by the flight management computer and acquired by an ARINC429 bus is analyzed and sent into the control rate of the flight environment software to carry out the periodic closed-loop control of the airplane.
The non-avionic system simulator automatically simulates and sends a longitudinal control instruction of the event type flight control system according to the current flight state (flight state: airplane wheel load signal, airplane ground clearance, airplane configuration and airplane speed) of the airplane acquired from the flight environment software and according to the requirements of the test case, and changes the vertical attitude and the track of the airplane. The final tests are shown in table 3, for example.
TABLE 4 test cases
And after the aircraft autonomously lands after receiving a landing command sent by the non-avionic system simulator, freezing the flight environment software. And opening data recording and analyzing software, running analysis, checking the printed test result log, and finishing the whole test. The analytical procedure was as follows: and after the command sent by the non-avionic system simulation module to the airborne equipment and the flight environment simulation module is changed, searching whether the vertical speed of the airplane is changed according to the command and searching whether the height of the airplane enters (990, 1010) height range.
The system and the method for automatically verifying the vertical navigation guidance mode of the flight management system simulate the whole flight process of an airplane by utilizing flight environment software, and have the functions of autonomous take-off and landing of the airplane, roll holding, pitch holding, altitude selection, course holding, course selection, glide slope selection, waypoint navigation and the like. A non-avionic system simulator is utilized to simulate and trigger an instruction of a flight control system according to time sequence, the instruction is sent as an event type message, and meanwhile, the system collects the airplane state in flight environment software. And the AFDX and ARINC429 bus monitors are used for sending data output by the flight environment into the flight management computer and sending data output by the flight management computer into the flight environment software. And recording a flight data domain control instruction in the whole course by using data Jiyu analysis software, and judging the instruction correctness and automatically printing a test log by using an analysis module of the flight data domain control instruction. The structure can realize automatic guidance of the airplane, can verify the reliability and correctness of the airplane management system in a ground test environment, reduces the cost and improves the effectiveness.
The above description is only for the best mode of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (10)
1. A vertical navigation guidance mode automated verification system for a flight management system, the system comprising:
the flight environment simulation module simulates the dynamics characteristic, the kinematics characteristic and the atmospheric environment characteristic of a simulated airplane, a flight control system, an automatic flight control system and a power system of the airplane, and outputs simulated flight data, simulated state data and simulated environment data of the airplane;
the flight management module receives the flight data, the state data and the environment data generated by the flight environment simulation module, calculates the guiding deviation data between the flight management module and a preset flight path, and inputs the guiding deviation data into the flight environment simulation module to generate an airplane control instruction;
the non-avionic system simulation module receives simulated flight data, simulated state data and simulated environment data generated by the flight environment simulation module, compares the simulated flight data, the simulated state data and the simulated environment data with standard data, simulates a working mode instruction of the flight management module, and transmits the working mode instruction to the flight environment simulation module and the flight management module;
the flight environment simulation module enters a corresponding working mode according to the working mode instruction, the flight management module outputs a guide instruction according to the working mode instruction and transmits the guide instruction to the flight environment simulation module, and the flight environment simulation module completes tracking according to the guide instruction to realize correction of the corresponding working mode.
2. The system of claim 1, further comprising an ARINC429 bus monitor, wherein the ARINC429 bus monitor monitors the status of the flight management module, generates guidance instructions, and transmits the guidance instructions to the flight environment simulation module.
3. The system of claim 1, further comprising an AFDX bus monitor, wherein the AFDX bus monitor collects sensor data output by the flight environment simulation module, converts the data format of the sensor data, and transmits the sensor data to the flight management module.
4. The system of claim 1, wherein the flight management module loads a flight plan for defining the flight path.
5. The system of claim 1, further comprising a data logging and analysis module, wherein the data logging and analysis module logs simulated flight data, simulated status data and simulated environmental data generated by the flight environment simulation module, guidance data generated by the flight management module, and operational mode commands generated by the non-avionics system simulation module.
6. A method for automated verification of a vertical navigational guidance mode of a flight management system, the method comprising:
firstly, a flight environment simulation module simulates the dynamic characteristics, the kinematics characteristics and the atmospheric environment characteristics of a simulated airplane, a flight control system, an automatic flight control system and a power system of the airplane, and outputs simulated flight data, simulated state data and simulated environment data of the airplane;
secondly, the flight management module receives flight data, state data and environment data generated by the flight environment simulation module, calculates guiding deviation data between the flight management module and a preset flight path, and inputs the guiding deviation data into the flight environment simulation module to generate an airplane control command;
thirdly, when the flight management module receives data generated by the flight environment simulation module and transmits the guide deviation data to an airplane control instruction of the flight environment simulation module, the non-avionic system simulation module also receives simulated flight data, simulated state data and simulated environment data generated by the flight environment simulation module and compares the simulated flight data, the simulated state data and the simulated environment data with standard data, simulates a working mode instruction of the flight management module, and transmits the working mode instruction to the flight environment simulation module and the flight management module;
and fourthly, the flight environment simulation module enters a corresponding working mode according to the working mode instruction, the flight management module outputs a guide instruction according to the working mode instruction and transmits the guide instruction to the flight environment simulation module, and the flight environment simulation module completes tracking according to the guide instruction to realize correction of the corresponding working mode.
7. The method of claim 6, wherein the first module is an AFDX bus monitor for transmitting the simulated flight data, the simulated status data and the simulated environment data of the aircraft, the AFDX bus monitor is further configured to collect the sensor data outputted from the flight environment simulation module and convert the data format.
8. The method of claim 6, wherein in the second step, the ARINC429 bus monitor is used to transmit the guidance deviation data to the flight environment simulation module, and the ARINC429 bus monitor is also used to monitor the status of the flight management module and generate guidance instructions.
9. The vertical navigational guidance mode automated verification method of a flight management system of claim 6, wherein the flight management module loads a flight plan for defining the flight path.
10. The method for automatically verifying the vertical navigation guidance mode of the flight management system according to claim 6, wherein in the first to fourth processes, the simulated flight data, the simulated state data and the simulated environment data generated by the flight environment simulation module, the guidance data generated by the flight management module and the working mode commands generated by the non-avionic system simulation module are further recorded by the data recording and analyzing module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711298996.9A CN108052116B (en) | 2017-12-08 | 2017-12-08 | Automatic verification system and method for vertical navigation guidance mode of flight management system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711298996.9A CN108052116B (en) | 2017-12-08 | 2017-12-08 | Automatic verification system and method for vertical navigation guidance mode of flight management system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108052116A CN108052116A (en) | 2018-05-18 |
| CN108052116B true CN108052116B (en) | 2020-11-06 |
Family
ID=62123796
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711298996.9A Active CN108052116B (en) | 2017-12-08 | 2017-12-08 | Automatic verification system and method for vertical navigation guidance mode of flight management system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108052116B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102867073A (en) * | 2011-07-08 | 2013-01-09 | 中国民航科学技术研究院 | Flight program design system for performance-based navigation, verification platform and verification method |
| CN105243173A (en) * | 2015-08-25 | 2016-01-13 | 中国民航科学技术研究院 | Computer virtual environment simulation and check system for performance based navigation flight program |
| CN105701090A (en) * | 2014-10-11 | 2016-06-22 | 中国国际航空股份有限公司 | Simulator for flight management system |
| CN106403973A (en) * | 2016-08-29 | 2017-02-15 | 中国航空工业集团公司西安飞机设计研究所 | Flight plan vertical route programming method and system |
| EP3214520A1 (en) * | 2016-03-04 | 2017-09-06 | The Boeing Company | Apparatus and method for simulating a failure response in an electromechanical actuator |
| JP2017162041A (en) * | 2016-03-08 | 2017-09-14 | Ｃａｎｓｅｌｌ株式会社 | Predictive reservation apparatus, predictive reservation method, and predictive reservation program |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20170286575A1 (en) * | 2016-03-31 | 2017-10-05 | Cae Inc. | Method and systems for anticipatorily updating a remote repository |
-
2017
- 2017-12-08 CN CN201711298996.9A patent/CN108052116B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102867073A (en) * | 2011-07-08 | 2013-01-09 | 中国民航科学技术研究院 | Flight program design system for performance-based navigation, verification platform and verification method |
| CN105701090A (en) * | 2014-10-11 | 2016-06-22 | 中国国际航空股份有限公司 | Simulator for flight management system |
| CN105243173A (en) * | 2015-08-25 | 2016-01-13 | 中国民航科学技术研究院 | Computer virtual environment simulation and check system for performance based navigation flight program |
| EP3214520A1 (en) * | 2016-03-04 | 2017-09-06 | The Boeing Company | Apparatus and method for simulating a failure response in an electromechanical actuator |
| JP2017162041A (en) * | 2016-03-08 | 2017-09-14 | Ｃａｎｓｅｌｌ株式会社 | Predictive reservation apparatus, predictive reservation method, and predictive reservation program |
| CN106403973A (en) * | 2016-08-29 | 2017-02-15 | 中国航空工业集团公司西安飞机设计研究所 | Flight plan vertical route programming method and system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108052116A (en) | 2018-05-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Han et al. | Low-cost multi-UAV technologies for contour mapping of nuclear radiation field | |
| CN202533754U (en) | Ground monitoring system for unmanned vehicle physical simulated test platform | |
| US8571729B2 (en) | Wind calculation system using a constant bank angle turn | |
| CN100551777C (en) | The control system that is used for flight automatically and wind shear situation | |
| CN103051373A (en) | Self-rotor unmanned aerial vehicle-based air emergency communication system | |
| US20180141656A1 (en) | Method and system for monitoring operational status of drone | |
| KR102323935B1 (en) | Ultra Wide Band-based Aircraft landing guidance device and its method | |
| Lei et al. | A linear domain system identification for small unmanned aerial rotorcraft based on adaptive genetic algorithm | |
| CN108609202B (en) | Flight bump prediction method and system | |
| CN113467495B (en) | Aircraft rapid trajectory optimization method meeting strict time and position constraints | |
| CN113460328A (en) | System and method for civil aircraft ground comprehensive dynamic detection | |
| CN113205706A (en) | ILS signal quality monitoring method based on flight QAR data | |
| US9540119B1 (en) | Remotely piloted aircraft telemetry recording using the command and control data link system and related method | |
| US20220146618A1 (en) | Ultra-wideband localization method, device, and system | |
| CN108052116B (en) | Automatic verification system and method for vertical navigation guidance mode of flight management system | |
| CN112781621A (en) | Multi-rotor unmanned aerial vehicle flight calibration system and method based on precise positioning | |
| CN113391649B (en) | Unmanned aerial vehicle display and control integrated method, system and device and computer readable storage medium | |
| Deng et al. | UAV flight safety ground test and evaluation | |
| Poissant et al. | Mitigation of Ground Impact Hazard for Safe Unmanned Aerial Vehicle Operations | |
| CN109992897B (en) | Radio altimeter simulation method for ground proximity warning equipment | |
| CN113821050A (en) | Method for defining unmanned aerial vehicle system architecture meta-model based on SysML | |
| CN112612297A (en) | Airworthiness verification system and method for civil aircraft automatic flight control system | |
| Kayton | One hundred years of aircraft electronics | |
| Astuti et al. | “Hardware in the loop” tuning for a volcanic gas sampling UAV | |
| CN110706551A (en) | Multi-mode unmanned aerial vehicle operator training simulator |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |