CN110267342A - Localization method based on WIFI under a kind of complex indoor scene - Google Patents
Localization method based on WIFI under a kind of complex indoor scene Download PDFInfo
- Publication number
- CN110267342A CN110267342A CN201910387625.0A CN201910387625A CN110267342A CN 110267342 A CN110267342 A CN 110267342A CN 201910387625 A CN201910387625 A CN 201910387625A CN 110267342 A CN110267342 A CN 110267342A
- Authority
- CN
- China
- Prior art keywords
- anchor node
- node
- server
- anchor
- location information
- 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
-
- 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
- G01S5/0278—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 involving statistical or probabilistic considerations
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B17/00—Monitoring; Testing
- H04B17/30—Monitoring; Testing of propagation channels
- H04B17/309—Measuring or estimating channel quality parameters
- H04B17/318—Received signal strength
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Probability & Statistics with Applications (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Quality & Reliability (AREA)
- Electromagnetism (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Mobile Radio Communication Systems (AREA)
Abstract
The invention discloses the localization methods based on WIFI under a kind of complex indoor scene, including system initialization；It is deployed in the unknown node and anchor node pairing networking in monitoring region；Unknown node and each anchor node of pairing are communicated；Server calculates the position of the unknown node according to the anchor node RSSI value and location information number that receive.The present invention uses a server to anchor node number and workflow of the unified planning for same label；Clock is synchronous periodically to be realized to each anchor node tranmitting data register synchronization message by server by network interface, to solve the problems, such as that data are nonsynchronous；The anchor node serial number of the same label node hardware address received in a locating periodically using server statistics, and the sequence of specified anchor node, avoid the data collision between multinode；According to different reception anchor node signal format and signal strength in a locating periodically；Intelligence, the networking of each node are improved, positioning timeliness is improved, so that positioning is more accurate.
Description
Technical field
The invention belongs to Internet of Things applied technical fields, and in particular to the positioning based on WIFI under a kind of complex indoor scene
Method.
Background technique
With the arrival of big data era, the Internet of Things application based on location aware is being played a greater and greater role.
GPS positioning technology has limitation, for example is just difficult to receive the signal of satellite when being located at indoor by positioning object, and
The positioning accuracy of GPS needs the case where being accurately positioned in rice magnitude, for certain, and the precision of GPS is with regard to far from enough.Wireless local area
Network (WLAN) is a kind of completely new information acquisition platform, a wide range of fixed of complexity can be realized in field being widely applied
Position, monitoring and tracking task, and network node self poisoning is basis and the premise of most of applications.It is current popular
WIFI positioning is a kind of location solution of the IEEE802.11 of Wireless LAN series standard.The system is used through test
The mode that examination and signal propagation model combine, is easily installed, needs seldom base station, can use identical bottom wireless network knot
Structure, system overall accuracy are high.
The Ekahau company of Finland develops the software that indoor positioning can be carried out using WIFI.The accuracy that WIFI draws
About in the range of 1 meter to 20 meters, in general, it is more accurate than cellular network triangulation localization method.But if
The access point which WIFI the measuring and calculating of positioning depends only on is nearest, rather than relies on the signal strength map of synthesis, then
Error-prone in floor location.Currently, it is applied to small-scale indoor positioning, cost is relatively low.
But either for indoor or outdoor positioning, WIFI transceiver all can only region within 90 meters of covering radius,
And it is highly susceptible to the interference of other signals, to influence its precision, the energy consumption of locator is also higher.
Summary of the invention
The technical problem to be solved by the present invention is to solve the above shortcomings of the prior art and to provide a kind of complex indoor scenes
Under the localization method based on WIFI, for different indoor environment features, according to receiving WIFI signal intensity (RSSI value) and position
Confidence breath number is positioned respectively, is suitable for various different scenes, has good generalization.
To realize the above-mentioned technical purpose, the technical scheme adopted by the invention is as follows:
Localization method based on WIFI under a kind of complex indoor scene, comprising the following steps:
S1: system initialization；
S2: the unknown node and anchor node pairing networking in monitoring region are deployed in；
S3: unknown node and each anchor node of pairing are communicated, and each anchor node passes through RSSI value and location information
Communication module is transmitted to server；
S4: server calculates the position of the unknown node according to the anchor node RSSI value and location information number that receive
It sets.
To optimize above-mentioned technical proposal, the concrete measure taken further include:
Above-mentioned step S1 the following steps are included:
S11: unknown node, anchor node and server power on, and initialize every hardware parameter；
S12: anchor node sends initialization success message to server, information, coordinate periodically to surrounding broadcast itself
Information and id information；
S13: unknown node receives in range after anchor node information, records anchor node RSSI value and location information；
S14: after server confirms that each anchor node initializes successfully, when periodically being sent to each anchor node by network interface
Clock synchronization message, each anchor node carry out clock alignment by the clock synchronization message.
Above-mentioned step S2 the following steps are included:
S21: the anchor node serial number of the hardware address for the same unknown node that server statistics receive, it is each according to receiving
The time of a anchor node RSSI value and location information is the specified sequence of each anchor node；
S22: server referring to time series idle at present, arrange to receive the unknown node of RSSI value and location information with
Send the anchor node communication of RSSI value and location information.
Above-mentioned step S4 specifically: server by the anchor node received by polygon is connected into counterclockwise, with wherein one
Polygon is decomposed into i-2 triangle as vertex by a maximum anchor node of received signal strength.
Above-mentioned step S4 includes following two situation:
When server receives four and more than four anchor node RSSI values and location information, improved weighting is utilized
Centroid localization algorithm calculates the position coordinates of the unknown node；
When server receives four anchor node RSSI values below and location information, it is based on anchor node RSSI value and position
Confidence breath carries out auxiliary positioning using inertial navigation information, and inertial navigation information is by the inertial navigation mould set in the unknown node label
Block obtains.
It is above-mentioned when server receives four and more than four anchor node RSSI values and location information, utilize improvement
Weighted mass center location algorithm calculate unknown node coordinate, specifically:
It utilizes with the maximum anchor node position (x of RSSI value1,y1,z1) setting out as public vertex is divided into polygon
I-2 triangle, while introducing each center of mass point and (x1,y1,z1) range error and e are as impact factor, then improved weighting matter
Heart method are as follows:
Wherein, (xi, yi, zi) indicate i (i >=4) anchor node coordinate, (x02, y02, z02) indicate unknown node using improvement matter
Heart method coarse localization three-dimensional coordinate；(x′i, y 'i, z 'i) represent the mass center of sub- triangle, siThe area of sub- triangle is represented,
The invention has the following advantages:
(1) present invention uses a server to anchor node number and workflow of the unified planning for same label；
(2) clock of the present invention is synchronous periodically real to each anchor node tranmitting data register synchronization message by network interface by server
It is existing, to solve the problems, such as that data are nonsynchronous；
(3) the same label node hardware address that the present invention is received using server statistics in a locating periodically
Anchor node serial number, and the sequence of specified anchor node, avoid the data collision between multinode；
(4) present invention is in a locating periodically according to different reception anchor node signal format and signal strength；
(5) present invention improves intelligence, the networking of each node, improves positioning timeliness, so that positioning is more accurate.
Detailed description of the invention
Fig. 1 is group-net communication flow diagram in the embodiment of the present invention；
Fig. 2 is positioning result figure in the embodiment of the present invention.
Specific embodiment
The embodiment of the present invention is described in further detail below in conjunction with attached drawing.
Localization method based on WIFI under a kind of complex indoor scene of the invention, comprising the following steps:
S1: system initialization；
In embodiment, step S1 the following steps are included:
S11: unknown node, anchor node and server power on, and initialize every hardware parameter；
Following embodiment is illustrated with unknown node TAG 1, and TAG1 is the code name of label, and TAG1 label can be prison
Any label in region is surveyed, label can be worn in target to be positioned.
S12: anchor node sends initialization success message to server, information, coordinate periodically to surrounding broadcast itself
Information and id information；
S13: unknown node receives in range after anchor node information, records anchor node RSSI value and location information.
S14: after server confirms that each anchor node initializes successfully, when periodically being sent to each anchor node by network interface
Clock synchronization message, each anchor node carry out clock alignment by the clock synchronization message.
S2: the unknown node and anchor node pairing networking in monitoring region are deployed in；
In embodiment, step S2 the following steps are included:
S21: the anchor node serial number of the hardware address for the same unknown node that server statistics receive, it is each according to receiving
The time of a anchor node RSSI value and location information is the specified sequence of each anchor node；
For example, the anchor node for reporting same RSSI value and location information at first is set as the first anchor node, it can be set as A0, it
Anchor node afterwards can successively be set as A1, A2, A3 ...
S22: server referring to time series idle at present, arrange to receive the unknown node of RSSI value and location information with
Send the anchor node communication of RSSI value and location information.
S3: unknown node and each anchor node of pairing are communicated, and each anchor node passes through RSSI value and location information
Communication module is transmitted to server；
S4: server calculates the position of the unknown node according to the anchor node RSSI value and location information number that receive
It sets, i.e., server receives the RSSI value and location information that each anchor node is sent, and the RSSI value sent according to each anchor node
And location information, calculate the position of the unknown node.
In embodiment, step S4 specifically: server by the anchor node received by polygon is connected into counterclockwise, with wherein
Polygon is decomposed into i-2 triangle as vertex by one maximum anchor node of received signal strength.
Specifically include following two situation:
1. when server receives four and more than four anchor node RSSI values and location information, using improved plus
Power centroid localization algorithm calculates the position coordinates of the unknown node；
Specifically: it utilizes with the maximum anchor node position (x of RSSI value1,y1,z1) set out as public vertex will be polygon
Shape is divided into i-2 triangle, while introducing each center of mass point and (x1,y1,z1) range error and e as impact factor, then improve
Weighted mass center method are as follows:
Wherein, (xi, yi, zi) indicate i (i >=4) anchor node coordinate, (x02, y02, z02) indicate unknown node using improvement matter
Heart method coarse localization three-dimensional coordinate；(x′i, y 'i, z 'i) represent the mass center of sub- triangle, siThe area of sub- triangle is represented,
In embodiment, when server receive 4 or more anchor nodes i.e. anchor section send location information and RSSI signal, then
Polygon is just constituted between anchor node, tradition seeks anchor point coordinate using mass center
The above method can not embody each anchor node to the influence of positioning, especially fissipation factor to the influence degree of ranging with
Its influence degree of the increase of distance can be increasing, therefore can generate biggish loss error in more complicated indoor environment.
It utilizes in the present embodiment with the maximum anchor node position (x of RSSI value1,y1,z1) setting out as public vertex divides polygon
For i-2 triangle, then improved weighted mass center method are as follows:
Wherein, (xi, yi, zi) indicate i (i >=4) anchor node coordinate, (x02, y02, z02) indicate unknown node using improvement matter
Heart method coarse localization three-dimensional coordinate；(x′i, y 'i, z 'i) represent the mass center of sub- triangle, siRepresent the area of sub- triangle.
The above method cannot distinguish between influence of each triangle mass center to target to be positioned, because intensity RSSI value is highest
Anchor node is nearest under normal circumstances from target, introduces each center of mass point and (x thus1,y1,z1) range error and e as influence because
Son, rewriting formula (1) is
Wherein,
2. when server receives four anchor node RSSI values below and location information, based on anchor node RSSI value and
Location information carries out auxiliary positioning using inertial navigation information, and inertial navigation information is by the inertial navigation set in the unknown node label
Module obtains.
2.1 when unknown node receives three anchor node RSSI values and location information,
Wherein,dmaxIt is the maximum anchor node of received signal strength with a distance from target, diFor unknown object and anchor
The distance between node.
2.2 receive 2 anchor node RSSI values and location information when server, are assisted using anchor node range information and inertial navigation
Information is positioned, and is obtained
5 formula of formula 4- formula can obtain:
Rewriting formula 11 can obtain:
ax0+by0+cz0=d (7)
Wherein, -2 (x1-x2) it is set as a；-2(y1-y2) it is set as b；-2(z1-z2) it is set as c；It is set as d；Inertial navigation point coordinate is set as (r, s, t),
Equation can be obtained:
Acquire solution are as follows:
9 substitution formula 8 of formula can be obtained to the position coordinates of unknown node.
2.3 receive 1 anchor node RSSI value and location information when unknown node, using nearest inertial navigation dot position information into
Row coarse localization.
The known anchor node centre of sphere and inertial navigation point coordinate are respectively (x1,y1,z1), (r, s, t),
Known sphere central coordinate of circle (x1,y1,z1) and radius r, sphere equation can be denoted as:
(x0-x1)2+(y0-y1)2+(z0-z1)2=r1 2 (9)
Three-dimensional system of coordinate is established by coordinate origin of the centre of sphere, can obtain location information is
Whereind1Respectively object to be measured and inertial navigation point distance, d2For the centre of sphere and inertial navigation point
Distance.
2.4 receive 0 anchor node RSSI value and location information when server, are mainly determined using inertial navigation auxiliary information
Position.
Analysis anchor node RSSI value and location information, the increment information by the accelerometer based on inertial navigation in three directions obtain
To target location information this moment.Inertia system provides the location information of last moment positioning system as the first of this moment inertial navigation
Then beginning location information estimates the specific of this moment motion carrier in the acceleration increment information in three directions using inertial navigation
Location information.
As shown in Fig. 2, using the method for the present invention, interior measured value and practical Value Data start to have a measurement for a period of time
Error, with the passage of positioning time, the rear cracking tracking physical location of extended meeting has reached interior from the point of view of its position error
The quality requirement of positioning.
The above is only the preferred embodiment of the present invention, protection scope of the present invention is not limited merely to above-described embodiment,
All technical solutions belonged under thinking of the present invention all belong to the scope of protection of the present invention.It should be pointed out that for the art
For those of ordinary skill, several improvements and modifications without departing from the principles of the present invention should be regarded as protection of the invention
Range.
Claims (6)
1. based on the localization method of WIFI under a kind of complex indoor scene, it is characterised in that: the following steps are included:
S1: system initialization；
S2: the unknown node and anchor node pairing networking in monitoring region are deployed in；
S3: unknown node and each anchor node of pairing are communicated, and each anchor node is by RSSI value and location information through communicating
Module transfer is to server；
S4: server calculates the position of the unknown node according to the anchor node RSSI value and location information number that receive.
2. the localization method based on WIFI under a kind of complex indoor scene according to claim 1, it is characterised in that: step
S1 the following steps are included:
S11: unknown node, anchor node and server power on, and initialize every hardware parameter；
S12: anchor node sends initialization success message to server, information, coordinate information periodically to surrounding broadcast itself
And id information；
S13: unknown node receives in range after anchor node information, records anchor node RSSI value and location information；
S14: periodically same to each anchor node tranmitting data register by network interface after server confirms that each anchor node initializes successfully
Message is walked, each anchor node carries out clock alignment by the clock synchronization message.
3. the localization method based on WIFI under a kind of complex indoor scene according to claim 1, it is characterised in that: step
S2 the following steps are included:
S21: the anchor node serial number of the hardware address for the same unknown node that server statistics receive, foundation receive each anchor
The time of node R SSI value and location information is the specified sequence of each anchor node；
S22: server arranges the unknown node and transmission that receive RSSI value and location information referring to time series idle at present
The communication of the anchor node of RSSI value and location information.
4. the localization method based on WIFI under a kind of complex indoor scene according to claim 1, it is characterised in that: step
S4 specifically: server by the anchor node received by connecting into polygon counterclockwise, it is maximum with one of received signal strength
Anchor node as vertex, polygon is decomposed into i-2 triangle.
5. the localization method based on WIFI under a kind of complex indoor scene according to claim 1, it is characterised in that: step
S4 includes following two situation:
When server receives four and more than four anchor node RSSI values and location information, improved weighted mass center is utilized
Location algorithm calculates the position coordinates of the unknown node；
When server receives four anchor node RSSI values below and location information, believed based on anchor node RSSI value and position
Breath carries out auxiliary positioning using inertial navigation information, and inertial navigation information is obtained by the inertial navigation module set in the unknown node label
?.
6. the localization method based on WIFI under a kind of complex indoor scene according to claim 5, it is characterised in that: work as clothes
When business device receives four and more than four anchor node RSSI values and location information, improved weighted mass center location algorithm is utilized
Unknown node coordinate is calculated, specifically:
It utilizes with the maximum anchor node position (x of RSSI value1,y1,z1) setting out as public vertex is divided into i-2 for polygon
A triangle, while introducing each center of mass point and (x1,y1,z1) range error and e are as impact factor, then improved weighted mass center
Method are as follows:
Wherein, (xi, yi, zi) indicate i (i >=4) anchor node coordinate, (x02, y02, z02) indicate unknown node using improvement centroid method
Coarse localization three-dimensional coordinate；(x′i, y 'i, z 'i) represent the mass center of sub- triangle, siThe area of sub- triangle is represented,
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910387625.0A CN110267342B (en) | 2019-05-09 | 2019-05-09 | Positioning method based on WIFI in complex indoor scene |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910387625.0A CN110267342B (en) | 2019-05-09 | 2019-05-09 | Positioning method based on WIFI in complex indoor scene |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110267342A true CN110267342A (en) | 2019-09-20 |
| CN110267342B CN110267342B (en) | 2021-08-31 |
Family
ID=67914568
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910387625.0A Active CN110267342B (en) | 2019-05-09 | 2019-05-09 | Positioning method based on WIFI in complex indoor scene |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110267342B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111836360A (en) * | 2020-07-27 | 2020-10-27 | 海口亿游网络科技有限公司 | Positioning method and system based on WiFi |
| CN115550865A (en) * | 2021-06-29 | 2022-12-30 | 欧普照明股份有限公司 | Node graph construction method and node graph construction device |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103076592A (en) * | 2012-12-27 | 2013-05-01 | 重庆大学 | Precise wireless positioning method facing service robot in intelligent space |
| CN103338511A (en) * | 2013-05-28 | 2013-10-02 | 东南大学 | WSN (wireless sensor network) rapid self-positioning method based on triangle form estimation |
| CN106403955A (en) * | 2016-10-13 | 2017-02-15 | 北京国承万通信息科技有限公司 | Positioning method and positioning system |
| CN107249167A (en) * | 2017-04-10 | 2017-10-13 | 沈磊 | Indoor comprehensive locating platform and localization method |
-
2019
- 2019-05-09 CN CN201910387625.0A patent/CN110267342B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103076592A (en) * | 2012-12-27 | 2013-05-01 | 重庆大学 | Precise wireless positioning method facing service robot in intelligent space |
| CN103338511A (en) * | 2013-05-28 | 2013-10-02 | 东南大学 | WSN (wireless sensor network) rapid self-positioning method based on triangle form estimation |
| CN106403955A (en) * | 2016-10-13 | 2017-02-15 | 北京国承万通信息科技有限公司 | Positioning method and positioning system |
| CN107249167A (en) * | 2017-04-10 | 2017-10-13 | 沈磊 | Indoor comprehensive locating platform and localization method |
Non-Patent Citations (1)
| Title |
|---|
| 南卫杰: "《基于多边形分解的质心定位算法的研究》", 《中国优秀硕士学位论文全文数据库，信息科技辑》 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111836360A (en) * | 2020-07-27 | 2020-10-27 | 海口亿游网络科技有限公司 | Positioning method and system based on WiFi |
| CN111836360B (en) * | 2020-07-27 | 2022-07-19 | 海口亿游网络科技有限公司 | Positioning method and system based on WiFi |
| CN115550865A (en) * | 2021-06-29 | 2022-12-30 | 欧普照明股份有限公司 | Node graph construction method and node graph construction device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110267342B (en) | 2021-08-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112073895A (en) | High-precision personnel positioning and tracking method based on CSI | |
| CN109195099A (en) | A kind of indoor orientation method merged based on iBeacon and PDR | |
| CN107211389A (en) | Distribute and utilize the aerial information that operation is determined for position | |
| CN110926461B (en) | Indoor positioning method and system based on ultra wide band and navigation method and system | |
| CN204989490U (en) | Indoor outer integration positioning system of unmanned aerial vehicle based on GPS and ultrasonic wave | |
| CN103561462A (en) | Indoor positioning system and method totally based on smart mobile terminal platform | |
| CN103384358A (en) | Indoor positioning method based on virtual reality and WIFI space field strength | |
| CN106226732B (en) | The indoor wireless positioning and tracing method filtered based on TOF and iteration without mark | |
| CN103281778A (en) | Internet-of-things intelligent mobile phone indoor locating method and system based on wireless sensor network | |
| CN103491506A (en) | Method and system for cooperatively locating heterogeneous network based on WLAN and WSN | |
| Ahn et al. | Simulation of a RSSI-based indoor localization system using wireless sensor network | |
| CN108413966A (en) | Localization method based on a variety of sensing ranging technology indoor locating systems | |
| CN110267342A (en) | Localization method based on WIFI under a kind of complex indoor scene | |
| Liu et al. | Research and development of indoor positioning | |
| CN104507097A (en) | Semi-supervised training method based on WiFi (wireless fidelity) position fingerprints | |
| CN111698774A (en) | Indoor positioning method and device based on multi-source information fusion | |
| CN109428657A (en) | A kind of localization method and device | |
| CN102547973A (en) | RSSI (received signal strength indicator)-based multi-sensor fusion mobile node tracking method | |
| CN108732535A (en) | A kind of localization method, device and equipment | |
| Hashem et al. | Deepnar: Robust time-based sub-meter indoor localization using deep learning | |
| Xiao et al. | NomLoc: Calibration-free indoor localization with nomadic access points | |
| CN108226912A (en) | A kind of localization method and alignment system | |
| Othman | Node positioning in zigbee network using trilateration method based on the received signal strength indicator (RSSI) | |
| CN106197418B (en) | A kind of indoor orientation method merged based on the fingerprint technique of sliding window with sensor | |
| CN109839613A (en) | A kind of radio frequency positioning method and device calibrated using routing information |
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 |