CN109828247A - Encode phase-modulated pulse Doppler Fuze short distance target signal imitation method and device - Google Patents
Encode phase-modulated pulse Doppler Fuze short distance target signal imitation method and device Download PDFInfo
- Publication number
- CN109828247A CN109828247A CN201811555261.4A CN201811555261A CN109828247A CN 109828247 A CN109828247 A CN 109828247A CN 201811555261 A CN201811555261 A CN 201811555261A CN 109828247 A CN109828247 A CN 109828247A
- Authority
- CN
- China
- Prior art keywords
- signal
- phase
- short distance
- modulated pulse
- distance target
- 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
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
Landscapes
- Radar Systems Or Details Thereof (AREA)
Abstract
The present invention provides a kind of coding phase-modulated pulse Doppler Fuze short distance target signal imitation method and devices, its method includes: the transmitting signal and encoded signal for receiving coding phase-modulated pulse Doppler Fuze, and transmitting signal is distributed in two signal paths and is handled;In first signal path: carrying out detection to transmitting signal and obtain the pulse period, and calculate separately out across Periodic Compensation time and phase code thermal compensation signal;In second signal path: carrying out frequency modulation(PFM) to transmitting signal and delay process is obtained across periodic signal, and to across periodic signal carry out phase bit flipping, obtain phase compensation signal;Power control is carried out to phase compensation signal, obtains required short distance target analog signal, and is recycled in coding phase-modulated pulse Doppler Fuze, short distance target simulation is completed.The present invention is capable of the short distance target signal of analog encoding phase-modulated pulse Doppler Fuze, realizes the complete detection to its target acquisition performance.
Description
Technical field
The present invention relates to Fuze target analogue technique fields, draw in particular to a kind of coding phase-modulated pulse Doppler
Believe short distance target signal imitation method and device.
Background technique
Currently, the performance superiority and inferiority of fuse directly affects weapon system to the damage effectiveness of target, develops and produced at it
Cheng Zhong, it usually needs echo signal simulator simulates the echo signal during different intersections, to examine the target of fuse
Detectivity.Fuze target signal imitation device is similar with general radar signal simulation device, is target simulation technology and Radar Technology
The product combined, it realizes various functions by simulated target echo-signal.There have been the research in the field in foreign countries
A large amount of report, the country also achieved many achievements in related fields past 10 years.But traditional Fuze target letter
Number simulator can not simulate short distance target signal because of the limitation of its working system and conversion speed.With fuse field
The extensive use of phase-modulated pulse Doppler system is encoded, near region performance is continuously improved, this contradiction becomes increasingly conspicuous.
Summary of the invention
In consideration of it, the invention proposes a kind of coding phase-modulated pulse Doppler Fuze short distance target signal imitation method and dresses
It sets, it is intended to solve the problems, such as that existing traditional Fuze target signal imitation device can not simulate near region signal.
On the one hand, the invention proposes a kind of coding phase-modulated pulse Doppler Fuze short distance target signal imitation method, packets
Include following steps:
The transmitting signal and encoded signal of coding phase-modulated pulse Doppler Fuze are received, and the transmitting signal is distributed to
Default processing is carried out in two signal paths;
In first signal path: carrying out detection to the transmitting signal, obtain the pulse period, and according to the pulse
Period calculates separately out across Periodic Compensation time and phase code thermal compensation signal;
In second signal path: successively carrying out Doppler frequency modulation to the transmitting signal and delay process obtains
Across periodic signal, and according to the phase code thermal compensation signal obtained in the first passage to across the periodic signal progress
Phase bit flipping, obtains phase compensation signal;
Power control corresponding with the template signal characteristic of required simulation is carried out to the phase compensation signal, needed for obtaining
Short distance target analog signal, and be recycled in the coding phase-modulated pulse Doppler Fuze, complete short distance target simulation.
Further, described across the period in above-mentioned coding phase-modulated pulse Doppler Fuze short distance target signal imitation method
The compensation time subtracts system constant time lag by the pulse period and obtains.
Further, in above-mentioned coding phase-modulated pulse Doppler Fuze short distance target signal imitation method, the phase is compiled
Code thermal compensation signal is different by carrying out the encoded signal of the encoded signal of current period and next period according to the pulse period
Or it obtains.
Further, in above-mentioned coding phase-modulated pulse Doppler Fuze short distance target signal imitation method, to the hair
Signal is penetrated need to be carried out according to the characteristic of the echo signal of required simulation when Doppler frequency modulation treatment.
Further, in above-mentioned coding phase-modulated pulse Doppler Fuze short distance target signal imitation method, at the delay
Reason includes: apart from delay process and across period delay process.
Further, in above-mentioned coding phase-modulated pulse Doppler Fuze short distance target signal imitation method, the distance is prolonged
When treatment process in need to handle the transmitting signal according to the characteristic of the echo signal of required simulation.
Further, described across the period in above-mentioned coding phase-modulated pulse Doppler Fuze short distance target signal imitation method
It needs that the signal of current pulse period was delayed to next pulse period according to during delay process
Predeterminated position.
On the other hand, the invention also provides a kind of coding phase-modulated pulse Doppler Fuze short distance target signal imitations to fill
It sets, comprising: receiving unit, synchronization unit, modulation unit, delay unit, phase control unit, power control unit;Wherein,
The receiving unit is believed for receiving the transmitting signal of coding phase-modulated pulse Doppler Fuze, and by the transmitting
It number is distributed in two signal paths;
The synchronization unit is connected with the receiving unit, provides for receiving coding phase-modulated pulse Doppler Fuze
Encoded signal, while detection, acquisition pulse period, and root are carried out to the transmitting signal described all the way of receiving unit output
Across Periodic Compensation time and phase code thermal compensation signal are calculated separately out according to the pulse period;
The modulation unit is connected with the receiving unit, for according to the characteristic of the echo signal of required simulation into
Transmitting signal described in the another way that row exports the receiving unit carries out Doppler frequency modulation treatment, and exports and prolong to described
In Shi Danyuan;
The delay unit is connected with the modulation unit, signal for being exported to the modulation unit carry out away from
From delay and across period delay process, and export into the phase control unit;
The phase control unit is connected with the delay unit, for according to the phase code thermal compensation signal pair
The signal of the delay unit output carries out phase bit flipping, and exports to the power control unit;
The power control unit, and the phase control unit, the letter for being exported to the phase control unit
Number corresponding with the template signal characteristic of required simulation power control is carried out, and exported to drawing to encoding phase-modulated pulse Doppler
Letter completes short distance target simulation.
Further, in above-mentioned coding phase-modulated pulse Doppler Fuze short distance target signal imitation device, in the synchronization
In unit, subtracts system constant time lag by the pulse period and obtains.
Further, in above-mentioned coding phase-modulated pulse Doppler Fuze short distance target signal imitation device, in the synchronization
In unit, the phase code thermal compensation signal by according to the pulse period by the encoded signal of current period and next period
Encoded signal carry out exclusive or obtain.
Compared with prior art, the beneficial effects of the present invention are coding phase-modulated pulse Doppler provided by the invention draws
Believe short distance target signal imitation method and apparatus, is capable of the short distance target signal of analog encoding phase-modulated pulse Doppler Fuze, it is real
Now to the complete detection of its target acquisition performance.
Detailed description of the invention
By reading the following detailed description of the preferred embodiment, various other advantages and benefits are common for this field
Technical staff will become clear.The drawings are only for the purpose of illustrating a preferred embodiment, and is not considered as to the present invention
Limitation.And throughout the drawings, the same reference numbers will be used to refer to the same parts.In the accompanying drawings:
Fig. 1 is coding phase-modulated pulse Doppler Fuze short distance target signal imitation method flow provided in an embodiment of the present invention
Figure;
Fig. 2 is coding phase-modulated pulse Doppler Fuze short distance target signal imitation device frame provided in an embodiment of the present invention
Figure.
Specific embodiment
The preferred embodiment of the present invention described with reference to the accompanying drawings.It will be apparent to a skilled person that this
A little embodiments are used only for explaining technical principle of the invention, it is not intended that limit the scope of the invention.
It should be noted that in the description of the present invention, the instruction such as term " on ", "lower", "left", "right", "inner", "outside"
Direction or the term of positional relationship be direction based on the figure or positional relationship, this is intended merely to facilitate description, and
It is not that indication or suggestion described device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore not
It can be interpreted as limitation of the present invention.
In addition it is also necessary to explanation, in the description of the present invention unless specifically defined or limited otherwise, term " peace
Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally
Connection;It can be mechanical connection, be also possible to be electrically connected;Can be directly connected, can also indirectly connected through an intermediary,
It can be the connection inside two elements.To those skilled in the art, it can understand that above-mentioned term exists as the case may be
Concrete meaning in the present invention.
As shown in fig.1, being the coding phase-modulated pulse Doppler Fuze short distance target signal imitation side of the embodiment of the present invention
Method comprising following steps:
The transmitting signal and encoded signal of coding phase-modulated pulse Doppler Fuze are received, and the transmitting signal is distributed to
Default processing is carried out in two signal paths;
In first signal path: carrying out detection to the transmitting signal, obtain the pulse period, and according to the pulse
Period calculates separately out across Periodic Compensation time and phase code thermal compensation signal.Wherein, passes through institute
Stating the pulse period subtracts system constant time lag and obtains;The phase code thermal compensation signal is by will be current according to the pulse period
The encoded signal in period and the encoded signal in next period carry out exclusive or and obtain.
In second signal path: firstly, carrying out the characteristic with the echo signal of required simulation to the transmitting signal
Corresponding Doppler frequency modulates and apart from delay process;Then, according to obtained in first signal path described in across the period
It compensates the time, across period delay process is carried out to the signal after Doppler frequency modulation and apart from delay process, i.e., it will be current
The signal of pulse period is delayed to the predeterminated position of next pulse period, obtains across periodic signal;Finally, logical according to described first
The phase code thermal compensation signal obtained in road obtains phase compensation signal to across the periodic signal carry out phase bit flipping.
Corresponding power control is carried out to the phase compensation signal according to the characteristic of the template signal of required simulation, is obtained
Required short distance target analog signal is recycled in the coding phase-modulated pulse Doppler Fuze, and short distance target mould is completed
It is quasi-.
As shown in fig.2, the coding phase-modulated pulse Doppler Fuze short distance target signal imitation for the embodiment of the present invention fills
It sets comprising: receiving unit 201, synchronization unit 202, modulation unit 203, delay unit 204, phase control unit 205, function
Rate control unit 206;Wherein,
The receiving unit 201, for coding phase-modulated pulse Doppler Fuze transmitting signal receive, and by its
The transmitting signal received is distributed in two signal paths, wherein being exported all the way into the synchronization unit 202, another way is defeated
Out into the modulation unit 203, in order to which the synchronization unit 202 and the modulation unit 203 are same to the transmitting signal
Step carries out different processing.
The synchronization unit 202 is connected with the receiving unit 201, and one side is more for receiving coding phase-modulated pulse
The general encoded signal strangling fuse and providing.On the other hand the transmitting all the way for being exported to the received receiving unit 201
Signal carries out detection, to obtain the pulse period of the transmitting signal, and subtracts system by the obtained pulse period and fixes
Delay, obtains across the Periodic Compensation time, and its result is exported into the delay unit 204, in order to the delay unit
204 pairs its carry out delay process;Meanwhile according to the acquired pulse period, by the encoded signal of current period and next period
Encoded signal carry out exclusive or, obtain phase code thermal compensation signal, and its result is exported to the delay unit 204 and described
In phase control unit 205, in order to carry out subsequent processing to the signal.
The modulation unit 203 is connected with the receiving unit 201, receives what the receiving unit 201 exported at it
When another way emits signal, the received transmitting signal is carried out automatically according to the characteristic of the echo signal of required simulation
Corresponding Doppler frequency modulation treatment, and the transmitting signal after being processed to is exported into the delay unit 204, in order to
The delay unit 204 carries out delay process to it.
The delay unit 204 is connected with the synchronization unit 202 and the modulation unit 203 respectively, receives at it
After the transmitting signal that inputs of the modulation unit 203, the transmitting is believed according to the characteristic of the echo signal of required simulation
Number progress is corresponding apart from delay process, and inputted according to the received synchronization unit 202
To the further delay process that the transmitting signal carries out, i.e., across period delay process is obtained across periodic signal, and will it is described across
Periodic signal is exported into the phase control unit 205, in order to the phase control unit 205 to described across periodic signal
Carry out Phase Processing.
The phase control unit 205 is connected with the synchronization unit 202 and the delay unit 204 respectively, connects at it
Receive that the delay unit 204 inputs it is described across periodic signal when, inputted according to the received synchronization unit 202
The phase code thermal compensation signal to across the periodic signal carry out phase bit flipping, and the signal after overturning is exported to described
Power control unit 206.
The power control unit 206 is connected with the phase control unit 205, is receiving the phase controlling
After the signal that unit 205 inputs, corresponding power control is carried out to the signal according to the characteristic of the template signal of required simulation
System, and export to coding phase-modulated pulse Doppler Fuze, and then complete short distance target simulation.
Obviously it can be concluded that, above-mentioned implementation method of the invention has the advantage that analog encoding phase modulation arteries and veins
The short distance target signal of Doppler Fuze is rushed, realizes the complete detection to its target acquisition performance.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
Mind and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (10)
1. a kind of coding phase-modulated pulse Doppler Fuze short distance target signal imitation method, which comprises the steps of:
The transmitting signal and encoded signal of coding phase-modulated pulse Doppler Fuze are received, and the transmitting signal is distributed to two
Default processing is carried out in signal path;
In first signal path: carrying out detection to the transmitting signal, obtain the pulse period, and according to the pulse period
Calculate separately out across Periodic Compensation time and phase code thermal compensation signal;
In second signal path: successively carrying out Doppler frequency modulation to the transmitting signal and delay process was obtained across week
Phase signal, and according to the phase code thermal compensation signal obtained in the first passage to across the periodic signal carry out phase
Overturning, obtains phase compensation signal;
Corresponding with the template signal characteristic of required simulation power control is carried out to the phase compensation signal, is obtained required close
Area's target simulation signal, and be recycled in the coding phase-modulated pulse Doppler Fuze, complete short distance target simulation.
2. coding phase-modulated pulse Doppler Fuze short distance target signal imitation method according to claim 1, feature exist
In subtracts system constant time lag by the pulse period and obtains.
3. coding phase-modulated pulse Doppler Fuze short distance target signal imitation method according to claim 1, feature exist
In, the phase code thermal compensation signal by according to the pulse period by the volume of the encoded signal of current period and next period
Code signal carries out exclusive or and obtains.
4. coding phase-modulated pulse Doppler Fuze short distance target signal imitation method according to claim 1, feature exist
In, when carrying out Doppler frequency modulation treatment to the transmitting signal need to according to the characteristic of the echo signal of required simulation into
Row.
5. coding phase-modulated pulse Doppler Fuze short distance target signal imitation method according to claim 1, feature exist
In the delay process includes: apart from delay process and across period delay process.
6. coding phase-modulated pulse Doppler Fuze short distance target signal imitation method according to claim 5, feature exist
In described to need during the delay process according to the characteristic of the echo signal of required simulation to the transmitting signal
Reason.
7. coding phase-modulated pulse Doppler Fuze short distance target signal imitation method according to claim 5, feature exist
Needed during, across the period delay process according to by the signal of current pulse period be delayed to
The predeterminated position of next pulse period.
8. a kind of coding phase-modulated pulse Doppler Fuze short distance target signal imitation device characterized by comprising receive single
Member, synchronization unit, modulation unit, delay unit, phase control unit, power control unit;Wherein,
The receiving unit divides for receiving the transmitting signal of coding phase-modulated pulse Doppler Fuze, and by the transmitting signal
It is dealt into two signal paths;
The synchronization unit is connected with the receiving unit, the coding provided for receiving coding phase-modulated pulse Doppler Fuze
Signal, while detection is carried out to the transmitting signal described all the way of receiving unit output, the pulse period is obtained, and according to described
Pulse period calculates separately out across Periodic Compensation time and phase code thermal compensation signal;
The modulation unit is connected with the receiving unit, and the characteristic for the echo signal according to required simulation is carried out to institute
It states transmitting signal described in the another way of receiving unit output and carries out Doppler frequency modulation treatment, and export single to the delay
Member;
The delay unit is connected with the synchronization unit and the modulation unit respectively, for exporting to the modulation unit
Signal carry out apart from delay process, and according to of received synchronization unit input to described
Signal carries out across period delay process, obtains across periodic signal, and exports to the phase control unit;
The phase control unit is connected with the synchronization unit and the delay unit respectively, for compiling according to the phase
Code thermal compensation signal exports to the power control unit across periodic signal carry out phase bit flipping;
The power control unit, and the phase control unit, signal for being exported to the phase control unit into
Corresponding with the template signal characteristic of the required simulation power control of row, and export to encoding phase-modulated pulse Doppler Fuze, with
Complete short distance target simulation.
9. coding phase-modulated pulse Doppler Fuze short distance target signal imitation device according to claim 8, feature exist
In in the synchronization unit, subtracts system constant time lag by the pulse period and obtains.
10. coding phase-modulated pulse Doppler Fuze short distance target signal imitation device according to claim 8, feature exist
In, in the synchronization unit, the phase code thermal compensation signal by according to the pulse period by the coding of current period
The encoded signal in signal and next period carries out exclusive or and obtains.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201811555261.4A CN109828247B (en) | 2018-12-18 | 2018-12-18 | Method and device for simulating target signal in near zone of code phase modulation pulse Doppler fuze |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201811555261.4A CN109828247B (en) | 2018-12-18 | 2018-12-18 | Method and device for simulating target signal in near zone of code phase modulation pulse Doppler fuze |
Publications (2)
Publication Number | Publication Date |
---|---|
CN109828247A true CN109828247A (en) | 2019-05-31 |
CN109828247B CN109828247B (en) | 2023-08-22 |
Family
ID=66859229
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201811555261.4A Active CN109828247B (en) | 2018-12-18 | 2018-12-18 | Method and device for simulating target signal in near zone of code phase modulation pulse Doppler fuze |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN109828247B (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111289952A (en) * | 2020-03-27 | 2020-06-16 | 华清瑞达(天津)科技有限公司 | Radar target echo simulation method and device |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103513232A (en) * | 2012-06-26 | 2014-01-15 | 北京华清瑞达科技有限公司 | Fuze body object simulation method and system |
US20150091748A1 (en) * | 2013-02-28 | 2015-04-02 | Mbda Italia S.P.A. | Radar proximity fuse and processing method of an echo radar signal for the acquisition of distance information between a target and a doppler radar |
CN106646399A (en) * | 2016-08-12 | 2017-05-10 | 南京理工大学 | Semi-physical simulation device for fuze body object echo simulation |
CN108089164A (en) * | 2017-10-30 | 2018-05-29 | 北京航天福道高技术股份有限公司 | A kind of broadband target simulator signal processing unit |
-
2018
- 2018-12-18 CN CN201811555261.4A patent/CN109828247B/en active Active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103513232A (en) * | 2012-06-26 | 2014-01-15 | 北京华清瑞达科技有限公司 | Fuze body object simulation method and system |
US20150091748A1 (en) * | 2013-02-28 | 2015-04-02 | Mbda Italia S.P.A. | Radar proximity fuse and processing method of an echo radar signal for the acquisition of distance information between a target and a doppler radar |
CN106646399A (en) * | 2016-08-12 | 2017-05-10 | 南京理工大学 | Semi-physical simulation device for fuze body object echo simulation |
CN108089164A (en) * | 2017-10-30 | 2018-05-29 | 北京航天福道高技术股份有限公司 | A kind of broadband target simulator signal processing unit |
Non-Patent Citations (2)
Title |
---|
王涛 等: ""伪码调相PD引信本目标模拟系统设计"" * |
赵琦 等: ""引信目标回波模拟器的建模与实现"" * |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111289952A (en) * | 2020-03-27 | 2020-06-16 | 华清瑞达(天津)科技有限公司 | Radar target echo simulation method and device |
CN111289952B (en) * | 2020-03-27 | 2023-08-15 | 华清瑞达(天津)科技有限公司 | Radar target echo simulation method and device |
Also Published As
Publication number | Publication date |
---|---|
CN109828247B (en) | 2023-08-22 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
RU2012102394A (en) | METHOD FOR CALCULATING PHYSICAL VALUES, METHOD FOR NUMERICAL ANALYSIS, PROGRAM FOR CALCULATING PHYSICAL VALUES, PROGRAM FOR NUMERICAL ANALYSIS, DEVICE FOR CALCULATING PHYSICAL VALUES AND DEVICES FOR NUMERICAL ANALYSIS | |
CN102023293A (en) | Radar target intermediate frequency (IR) echo simulation system based on multi-beam amplitude-comparison angle measurement and control method thereof | |
CN104112288A (en) | Three-dimensional skeleton model based action transition achieving method | |
CN108459308A (en) | A kind of analogue echoes method and device based on time-varying RCS data | |
CN109828247A (en) | Encode phase-modulated pulse Doppler Fuze short distance target signal imitation method and device | |
WO2014086372A3 (en) | Emulating power system operations | |
CN104808186A (en) | Portable universal radar signal simulator | |
CN105866752B (en) | Radar Target Track simulator and verifying test system based on microprocessor | |
CN105005995A (en) | Method used for calculating three-dimensional point cloud model bone | |
CN103760535A (en) | High-resolution radar target echo signal generating method | |
CN106707248A (en) | Software-based radar signal real-time processing system | |
CN110333671A (en) | A kind of rehabilitation simulation people is with Muscle tensility control system and its control method | |
DE60014564D1 (en) | Process for the gradual deformation of sequential simulations of a heterogeneous medium, e.g. an underground formation | |
CN106037795A (en) | Method for reconstructing sound velocity image by virtue of optimized full wave inversion method | |
CN104899896A (en) | Multi-task learning target tracking method based on subspace characteristics | |
KR910012848A (en) | Simulation method of sequence control program | |
WO2004077668A3 (en) | An apparatus and method for distance measurement with controlled modulation of emitted pulses | |
CN105975731A (en) | Magnetic resonance radio frequency coil simulation method and device | |
CN107942323A (en) | Based on frequency domain entropy into moving-target time-frequency curve extracting method | |
CN106326644A (en) | Method and device for calculating HRV (heart rate variability) parameters and fatigue indexes | |
CN110298912A (en) | Reproducing method, system, electronic device and the storage medium of three-dimensional scenic | |
CN103345825A (en) | Swimmer monitoring assist system and method | |
CN104700131B (en) | animal tag test system based on virtual instrument | |
CN106843092A (en) | Steering engine for unmanned plane jitter suppression method, suppressor and unmanned plane | |
CN105311792B (en) | The collecting method of recovery training appliance for recovery and recovery training appliance for recovery |
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 |