CN109387227B - Positioning point rotation multi-point verification method - Google Patents
Positioning point rotation multi-point verification method Download PDFInfo
- Publication number
- CN109387227B CN109387227B CN201811552057.7A CN201811552057A CN109387227B CN 109387227 B CN109387227 B CN 109387227B CN 201811552057 A CN201811552057 A CN 201811552057A CN 109387227 B CN109387227 B CN 109387227B
- Authority
- CN
- China
- Prior art keywords
- positioning
- verification
- calculating
- positioning device
- point
- 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
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
-
- 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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0252—Radio frequency fingerprinting
Abstract
A positioning accuracy verification method comprises the following steps of: uniformly setting reference points at positions where a plurality of reference positions in a positioning scene are known; the measuring device is arranged at any point in the positioning scene; controlling the rotating device to rotate along the plane, so that the verification device is positioned at a first angle, and simultaneously transmitting a positioning signal by using the positioning device P and the verification device S; after receiving the corresponding transmitting positioning signal, the corresponding reference point respectively sends a response signal and data information to the positioning device P and the verification device S, and the like.
Description
Technical Field
The invention relates to the field of wireless positioning, in particular to a positioning point rotation multi-point verification method.
Background
GPS (global positioning system) is currently the most widely used positioning technology. However, when the GPS receiver works indoors, the signal is greatly attenuated by the influence of buildings, the positioning accuracy is low, the positioning speed is relatively slow, and the cost of the locator terminal is high, so that the situation that the positioning cannot be performed often occurs. Therefore, when positioning is performed in a building, GPS has limited applications in this environment due to its own characteristics.
The wireless positioning technology processes certain parameters of received electromagnetic waves through a specific algorithm so as to deduce the position of an object to be measured. The measurement parameters include transmission time, amplitude, phase, angle of arrival, signal strength, etc. of the test signal. Currently, with the continuous development of wireless technologies, mobile computing devices and the internet, indoor positioning service systems are attracting more and more attention. Moreover, the method greatly makes up for the defect that the GPS cannot realize indoor effective positioning, and the indoor positioning can be realized in a high-precision mode.
However, indoor positioning is various in manner, but indoor positioning equipment needs to be installed and debugged, particularly, positioning points such as anchor points need to be accurately calibrated and positioned, and then positioning is achieved by using the positioning points as known positioning reference points.
At present, the prior art does not have many ways to calibrate the installation of the indoor positioning system, and in general, the coordinates of the reference point are calibrated only by a simple way and then used as the known reference point, so that the accuracy is low.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a positioning point rotation multi-point verification method which is simple and convenient in implementation mode, realizes positioning rotation, multi-point test verification and low in cost, can verify the precision of a positioning system and can improve the positioning precision of a later positioning system.
The invention provides a positioning accuracy verification method, which comprises the following steps of:
(1) uniformly setting reference points at positions of a plurality of known reference positions in a positioning scene, wherein the number of the reference points is more than or equal to 4; the measuring device is arranged in a positioning scene and comprises a positioning device P, a connecting rod, a driving motor, a rotating device and a verification device S, wherein the two ends of the connecting rod are respectively connected with the verification device S and the rotating device, the rotating device is arranged at the upper part of the positioning device P, the driving motor is arranged in the positioning device P, and the length of the connecting rod is marked as L;
(2) setting a measuring device at any point in a positioning scene;
(3) controlling the rotating device to rotate along the plane, so that the verification device is positioned at a first angle, and simultaneously transmitting a positioning signal by using the positioning device P and the verification device S;
(4) after receiving the corresponding transmitting positioning signal, the corresponding reference point respectively sends a response signal and data information to the positioning device P and the verification device S;
(5) after the positioning device P and the verification device S receive the sent response signals and the data information, the positioning device P takes three reference points closest to the positioning device P as calculation reference points;
(6) the positioning device P and the verification device S respectively calculate and obtain the position of the positioning device P by using the response signals and the data information of the three reference pointsCoordinate P (x)P,yP,zP) And coordinates S (x) of the verification device Ss,ys,zs)；
(7) Calculating by the formula:
keeping the position of the positioning device P unchanged, driving the rotating device by using the driving device to drive the verifying device S to rotate by the angle alpha, and calculating the corresponding coordinate P ' of the positioning device P and the coordinate S ' of the verifying device S by using the same calculation method as the step (6), and calculating by using the calculation method of the formula (1) to obtain L ';
(8) comparing whether the difference value of the L ' and the L ' is within a first allowable error, if so, driving the rotating device again by using the driving device to drive the verification device S to rotate 180 degrees, calculating the corresponding coordinate P ' of the positioning device P and the coordinate S of the verification device S by using the same calculation method of the step (6), calculating the L ' ″ by using the calculation method of the formula (1), and calculating the L ' ″s＝(L'+L”+L”)/3；
(9) Calculating the relative error w ═ L (L-L)s) L, comparing w with a preset error threshold, if w is smaller than the preset error threshold, determining that the measurement result is accurate, and entering the next step; if the error is larger than or equal to the preset error threshold value, the measuring result is considered to be inaccurate, and the step (1) is returned after the corresponding reference point is overhauled;
(10) setting the measuring device at other position points different from any point in the positioning scene, adjusting the length of the connecting rod to be another length different from L, and returning to the step (3); when the measuring times of the measuring device at different measuring points in the positioning scene exceed 20 times, entering the next step;
(11) and after the verification is finished, all the calculated data are collected and stored to be used as backup data for subsequent analysis and processing.
Wherein, the step (6) is to use the coordinates corresponding to the three reference points and the measured arrival time TiAnd a corresponding measured distance LiSeparately determining the coordinates P (x) of the positioning device PP,yP,zP) And authentication deviceSet S coordinate S (x)s,ys,zs)。
The data information is number information, time information and/or position information.
The positioning point rotation multi-point verification method has the advantages of simple implementation mode, positioning rotation, multi-point test verification, low cost, capability of verifying the precision of the positioning system and capability of improving the positioning precision of the later positioning system.
Drawings
Fig. 1 is a schematic diagram of a conventional indoor wireless positioning system;
FIG. 2 is a schematic diagram of a positioning point rotation multi-point verification system;
fig. 3 is a diagram illustrating the principle of anchor point rotation multi-point verification.
Detailed Description
Reference will now be made in detail to the embodiments of the present invention, the following examples of which are intended to be illustrative only and are not to be construed as limiting the scope of the invention.
The invention provides a positioning point rotation multi-point verification system and a verification method thereof, and the specific structure of the verification system is shown in attached figures 2-3. Fig. 1 is a schematic structural diagram of a conventional indoor wireless positioning system, and as shown in fig. 1, a plurality of reference points with known reference positions are uniformly set, wherein the number of the reference points is selected according to an actual scene, in general, the more the positioning area is covered, but in consideration of cost, the appropriate number may be selected. The positioning point is positioned in a positioning scene, the positioning point transmits a positioning signal, the reference point transmits a response signal and data information to the positioning point after receiving the transmitted positioning signal, and the positioning point calculates to obtain the position of the positioning point after receiving the transmitted response signal and the data information. Specifically, the location of the reference point is known, and its coordinates may be represented as C (X)i，Yi，Zi) I is a reference pointThe total number of reference points is N. Usually, the positioning point uses the three reference points closest to itself as the basis for calculation, using its corresponding coordinates and the measured arrival time TiAnd a corresponding measured distance LiThe coordinates of the anchor point can be found.
As shown in fig. 2, which is a schematic structural diagram of the positioning accuracy verification system of the present invention, as shown in the figure, the positioning accuracy verification system includes a plurality of reference points (the positions here are positions obtained by calibration in normal setting) with known reference positions, which are uniformly set, wherein the number of the reference points is selected according to an actual scene.
The positioning accuracy verification system further comprises a measuring device, wherein the measuring device comprises a positioning device P, a connecting rod, a driving motor, a rotating device and a verification device S, and the measuring device is arranged in a positioning scene and is shown in the attached drawing 2.
As shown in fig. 1-2, the two ends of the specific connecting rod are respectively connected to the verification device S and the rotation device, the rotation device is disposed on the upper portion of the positioning device P, the driving motor is disposed inside the positioning device P, the length of the connecting rod can be adjusted, the adjusted length of the connecting rod is denoted as L (wherein the adjustment mode can be realized in an electric driving mode in the prior art, and a corresponding length recording device is disposed inside the connecting rod, and the adjustment value of the length of the connecting rod is known), and the distance L between the positioning device P and the verification device S can be changed by adjusting the length of the connecting rod. The rotating device can rotate along the plane under the driving of the driving motor, so as to change the relative positions of the verification device S and the positioning device P, and the rotating angle is known. This allows verification to be performed using the changing positional relationship between the verification means S and the positioning means P.
Referring to fig. 3, in the measurement process, after the distance L between the positioning device P and the verification device S is determined, the positioning device P and the verification device S simultaneously transmit positioning signals, after receiving the corresponding transmitted positioning signals, the corresponding reference points respectively transmit response signals and data information (number information, time information, position information, etc.) to the positioning device P and the verification device S, and the positioning device P and the verification device S receive the transmission signalsAfter the response signal and the data information are received, the position coordinates of the user can be calculated respectively. Specifically, the location of the reference point is known, and its coordinates may be represented as C (X)i，Yi，Zi) I is the number of the reference points, the total number of the reference points is N, the positioning device P takes the three reference points closest to the positioning device P as the calculation reference points, and coordinates corresponding to the three reference points and the measured arrival time T are utilizediAnd a corresponding measured distance LiDetermining coordinates P (x) of the positioning device PP,yP,zP). At the same time, the verification means S associate the coordinates corresponding to the three reference points and the measured arrival time TiAnd a corresponding measured distance LiDetermining the coordinates S (x) of the verification device Ss,ys,zs)。
At this time, the following formula is used to calculate:
after that, the position of the positioning device P is not changed, the driving device drives the rotating device to drive the verification device S to rotate by the angle α, the corresponding coordinates P 'of the positioning device P and the coordinates S' of the verification device S are calculated by the same calculation method, and finally L ″ is calculated by the calculation method of the formula (1).
Comparing whether the difference value of the L ' and the L ' is within a first allowable error, if so, driving the rotation device to drive the verification device S to rotate 180 degrees by the driving device (so that a linear position relationship is formed just before and after the rotation), calculating the corresponding coordinate P ' of the positioning device P and the coordinate S ' of the verification device S by the same calculation method, finally calculating the L ' by the calculation method of the formula (1), and calculating the L ', wherein the L ' is obtained by the calculation method of the formula (1)s(L' + L ")/3, and the relative error w ═ is calculated (L-L ═ L ″)s) and/L, comparing w with a preset error threshold, and if the w is smaller than the preset error threshold, considering that the measurement result is accurate, and if the w is larger than or equal to the preset error threshold, considering that the measurement result is inaccurate. In addition, the preset error threshold can be set according to actual needs (such as cost)Functional parameters and the like), and then a relatively large value can be selected under the condition of low precision requirement, and a small value can be selected under the opposite condition, so that the verification of the positioning system can be adjusted, and the method is more flexible.
The invention also provides a positioning accuracy verification method, which comprises the following steps in sequence:
(1) uniformly setting reference points at positions of a plurality of known reference positions in a positioning scene, wherein the number of the reference points is more than or equal to 4; the measuring device is arranged in a positioning scene and comprises a positioning device P, a connecting rod, a driving motor, a rotating device and a verification device S, wherein the two ends of the connecting rod are respectively connected with the verification device S and the rotating device, the rotating device is arranged at the upper part of the positioning device P, the driving motor is arranged in the positioning device P, and the length of the connecting rod is marked as L;
(2) setting a measuring device at any point in a positioning scene;
(3) controlling the rotating device to rotate along the plane, so that the verification device is positioned at a first angle, and simultaneously transmitting a positioning signal by using the positioning device P and the verification device S;
(4) after receiving the corresponding transmitting positioning signal, the corresponding reference point respectively sends a response signal and data information to the positioning device P and the verification device S;
(5) after the positioning device P and the verification device S receive the sent response signals and the data information, the positioning device P takes three reference points closest to the positioning device P as calculation reference points;
(6) the positioning device P and the verification device S respectively calculate and calculate the coordinate P (x) of the positioning device P by using the response signals and the data information of the three reference pointsP,yP,zP) And coordinates S (x) of the verification device Ss,ys,zs) In particular coordinates corresponding to three reference points and the measured arrival time TiAnd a corresponding measured distance LiSeparately determining the coordinates P (x) of the positioning device PP,yP,zP) And coordinates S (x) of the verification device Ss,ys,zs)
(7) Calculating by the formula:
keeping the position of the positioning device P unchanged, driving the rotating device by using the driving device to drive the verifying device S to rotate by the angle alpha, and calculating the corresponding coordinate P ' of the positioning device P and the coordinate S ' of the verifying device S by using the same calculation method as the step (6), and calculating by using the calculation method of the formula (1) to obtain L ';
(8) comparing whether the difference value of the L ' and the L ' is within a first allowable error, if so, driving the rotating device again by using the driving device to drive the verification device S to rotate 180 degrees, calculating the corresponding coordinate P ' of the positioning device P and the coordinate S of the verification device S by using the same calculation method of the step (6), calculating the L ' ″ by using the calculation method of the formula (1), and calculating the L ' ″s＝(L'+L”+L”)/3；
(9) Calculating the relative error w ═ L (L-L)s) L, comparing w with a preset error threshold, if w is smaller than the preset error threshold, determining that the measurement result is accurate, and entering the next step; if the error is larger than or equal to the preset error threshold value, the measuring result is considered to be inaccurate, and the step (1) is returned after the corresponding reference point is overhauled;
(10) setting the measuring device at other position points different from any point in the positioning scene, adjusting the length of the connecting rod to be another length different from L, and returning to the step (3); when the measuring times of the measuring device at different measuring points in the positioning scene exceed 20 times, entering the next step;
(11) and after the verification is finished, all the calculated data are collected and stored to be used as backup data for subsequent analysis and processing.
The data information is number information, time information and/or position information.
Although exemplary embodiments of the present invention have been described for illustrative purposes, those skilled in the art will appreciate that various modifications, additions, substitutions and the like can be made in form and detail without departing from the scope and spirit of the invention as disclosed in the accompanying claims, all of which are intended to fall within the scope of the claims, and that various steps in the various sections and methods of the claimed product can be combined together in any combination. Therefore, the description of the embodiments disclosed in the present invention is not intended to limit the scope of the present invention, but to describe the present invention. Accordingly, the scope of the present invention is not limited by the above embodiments, but is defined by the claims or their equivalents.
Claims (3)
1. A positioning accuracy verification method is characterized by comprising the following steps of:
(1) uniformly setting reference points at positions of a plurality of known reference positions in a positioning scene, wherein the number of the reference points is more than or equal to 4; the measuring device is arranged in a positioning scene and comprises a positioning device P, a connecting rod, a driving motor, a rotating device and a verification device S, wherein the two ends of the connecting rod are respectively connected with the verification device S and the rotating device, the rotating device is arranged at the upper part of the positioning device P, the driving motor is arranged in the positioning device P, and the length of the connecting rod is marked as L;
(2) setting a measuring device at any point in a positioning scene;
(3) controlling the rotating device to rotate along the plane, so that the verification device is positioned at a first angle, and simultaneously transmitting a positioning signal by using the positioning device P and the verification device S;
(4) after receiving the corresponding transmitting positioning signal, the corresponding reference point respectively sends a response signal and data information to the positioning device P and the verification device S;
(5) after the positioning device P and the verification device S receive the sent response signals and the data information, the positioning device P takes three reference points closest to the positioning device P as calculation reference points;
(6) the positioning device P and the verification device S respectively calculate and calculate the coordinate P (x) of the positioning device P by using the response signals and the data information of the three reference pointsP，yP，zP) And coordinates S (x) of the verification device Ss，ys，zs)；
(7) Calculating by the formula:
keeping the position of the positioning device P unchanged, driving the rotating device by using the driving device to drive the verifying device S to rotate by the angle alpha, and calculating the corresponding coordinate P ' of the positioning device P and the coordinate S ' of the verifying device S by using the same calculation method as the step (6), and calculating by using the calculation method of the formula (1) to obtain L ';
(8) comparing whether the difference between L ' and L ' is within the first allowable error, if so, driving the rotation device again by the driving device to drive the verification device S to rotate 180 degrees, calculating the corresponding coordinate P ' of the positioning device P and the coordinate S of the verification device S by the same calculation method of the step (6), calculating to obtain L ', and calculating to obtain L ', wherein the calculation method of the formula (1) is used for calculating
(9) Calculating the relative error w ═ L (L-L)s) L, comparing w with a preset error threshold, if w is smaller than the preset error threshold, determining that the measurement result is accurate, and entering the next step; if the error is larger than or equal to the preset error threshold value, the measuring result is considered to be inaccurate, and the step (1) is returned after the corresponding reference point is overhauled;
(10) setting the measuring device at other position points different from any point in the positioning scene, adjusting the length of the connecting rod to be another length different from L, and returning to the step (3); when the measuring times of the measuring device at different measuring points in the positioning scene exceed 20 times, entering the next step;
(11) and after the verification is finished, all the calculated data are collected and stored to be used as backup data for subsequent analysis and processing.
2. The method of claim 1, wherein: the step (6) is to use the coordinates corresponding to the three reference points and the measured arrival time TiAnd a corresponding measured distance LiSeparately determining the coordinates P (x) of the positioning device PP，yP，zP) And coordinates S (x) of the verification device Ss，ys，zs)。
3. The method of claim 1 or 2, wherein: the data information is number information, time information and/or position information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811552057.7A CN109387227B (en) | 2018-12-19 | 2018-12-19 | Positioning point rotation multi-point verification method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811552057.7A CN109387227B (en) | 2018-12-19 | 2018-12-19 | Positioning point rotation multi-point verification method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109387227A CN109387227A (en) | 2019-02-26 |
| CN109387227B true CN109387227B (en) | 2021-05-18 |
Family
ID=65430483
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811552057.7A Active CN109387227B (en) | 2018-12-19 | 2018-12-19 | Positioning point rotation multi-point verification method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109387227B (en) |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102193004A (en) * | 2010-03-02 | 2011-09-21 | 京元电子股份有限公司 | Rotational three-dimensional dynamic test equipment |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7877596B2 (en) * | 2006-05-19 | 2011-01-25 | Honeywell International Inc. | Method and computer product to increase accuracy of time-based software verification for sensor networks |
| CN101459475B (en) * | 2007-12-10 | 2012-12-19 | 财团法人资讯工业策进会 | Signal detection system |
| CN105517149B (en) * | 2015-12-07 | 2018-10-26 | 深圳市国华光电研究院 | A kind of localization method and system based on RSSI and ZigBee technology |
| CN106772332B (en) * | 2016-12-22 | 2019-06-21 | 上海同建工程建设监理咨询有限责任公司 | A kind of rotary range measurement verification method |
| CN108333576B (en) * | 2016-12-22 | 2022-08-19 | 青岛翰兴知识产权运营管理有限公司 | Rotary type distance measurement verification device and method |
| CN108332784B (en) * | 2016-12-22 | 2020-05-08 | 杭州临安飞翔土地测绘规划设计有限公司 | Distance measurement verification method |
| WO2018143993A1 (en) * | 2017-02-02 | 2018-08-09 | Hewlett-Packard Development Company, L.P. | Functional element pose determination |
| CN107105405B (en) * | 2017-03-31 | 2018-08-24 | 四川中电昆辰科技有限公司 | The method for correcting position error |
| CN107889135A (en) * | 2017-11-27 | 2018-04-06 | 上海市共进通信技术有限公司 | The method for detecting radio node AP antenna quality |
| CN108650626A (en) * | 2018-05-18 | 2018-10-12 | 华南师范大学 | A kind of fingerprinting localization algorithm based on Thiessen polygon |
-
2018
- 2018-12-19 CN CN201811552057.7A patent/CN109387227B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102193004A (en) * | 2010-03-02 | 2011-09-21 | 京元电子股份有限公司 | Rotational three-dimensional dynamic test equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109387227A (en) | 2019-02-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP5450081B2 (en) | Method, software and system for determining the position of a user device | |
| CN109807911B (en) | Outdoor patrol robot multi-environment combined positioning method based on GNSS, UWB, IMU, laser radar and code disc | |
| TWI544822B (en) | Signal strength distribution establishing method and wireless positioning system | |
| JP2007013500A (en) | Radio terminal position estimating system, position estimating method for radio terminal position estimating system, and data processor | |
| CN108897013B (en) | GNSS interference source positioning method based on multi-node AGC | |
| CN110026993B (en) | Human body following robot based on UWB and pyroelectric infrared sensor | |
| CN110736963B (en) | Indoor Wi-Fi positioning method and device based on CSI and storage medium | |
| KR100977246B1 (en) | Apparatus and method for estmating positon using forward link angle of arrival | |
| CN105992959B (en) | The method and sensor network of arrangement for determining at least two sensors | |
| KR100882590B1 (en) | Device and method for measuring location | |
| CN108566677B (en) | Fingerprint positioning method and device | |
| CN109407079B (en) | Area positioning method based on attitude sensor calibration | |
| CN110275139B (en) | Ultra-short baseline positioning system and method based on rotary primitive multiplexing | |
| CN109798917B (en) | Positioning precision inspection method | |
| CN109387227B (en) | Positioning point rotation multi-point verification method | |
| CN110620836B (en) | Mobile phone hearing positioning method | |
| KR20180110392A (en) | Hybrid location positioning method for indoor location measurement based on smart device | |
| CN108225321B (en) | Indoor positioning method based on mobile node assistance | |
| CN109596089B (en) | Method and device for determining azimuth angle, electronic equipment and storage medium | |
| CN109211240A (en) | A kind of monocular vision submarine navigation device navigator fix bearing calibration | |
| JP2002257921A (en) | Transponder calibration method | |
| CN114966547B (en) | Compensation method, system and device for improving sound source positioning accuracy | |
| TW201727196A (en) | Indoor positioning method and indoor positioning system | |
| KR101099364B1 (en) | Weighted wireless positioning method using tdoa | |
| CN113573231B (en) | Indoor RSSI multi-point positioning method based on improved trilateration method |
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: 20210427 Address after: 430070 No.2, floor 5, unit 4, building 4, lvtingyajing, Zhuodaoquan village, Hongshan District, Wuhan City, Hubei Province Applicant after: Wuhan Dadi Guoyuan planning and Design Co.,Ltd. Address before: 257 300 Huize Garden District, Guangrao County, Dongying City, Shandong Province Applicant before: Cheng Jiaying |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |