CN110703280A - Clock error estimation method for satellite navigation time service type receiver - Google Patents

Clock error estimation method for satellite navigation time service type receiver Download PDF

Info

Publication number
CN110703280A
CN110703280A CN201911023278.XA CN201911023278A CN110703280A CN 110703280 A CN110703280 A CN 110703280A CN 201911023278 A CN201911023278 A CN 201911023278A CN 110703280 A CN110703280 A CN 110703280A
Authority
CN
China
Prior art keywords
clock error
model
vector
polynomial
clock
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.)
Pending
Application number
CN201911023278.XA
Other languages
Chinese (zh)
Inventor
李志强
于永
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nanjing Yida Sky Communication Technology Co Ltd
Original Assignee
Nanjing Yida Sky Communication Technology Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Nanjing Yida Sky Communication Technology Co Ltd filed Critical Nanjing Yida Sky Communication Technology Co Ltd
Priority to CN201911023278.XA priority Critical patent/CN110703280A/en
Publication of CN110703280A publication Critical patent/CN110703280A/en
Pending legal-status Critical Current

Links

Images

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
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • 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
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
    • G01S19/235—Calibration of receiver components

Abstract

The invention discloses a clock error estimation method for a satellite navigation time service type receiver. The method comprises the steps of fitting a polynomial, model simplification and matrix solution, wherein a Chebyshev model is introduced in the model simplification, and because vectors formed by various items of the polynomial of the Chebyshev model meet the standardized orthogonal characteristic, the parameter estimation and the statistical characteristic analysis can be simplified, the estimation precision of coefficient parameters can be improved, and more accurate clock error estimation and clock error prediction can be realized. The method is suitable for accurately estimating the clock error of the common temperature compensation crystal oscillator and the constant temperature crystal oscillator of the navigation receiver, so that the capability of the time service type receiver for continuously providing high-precision time service under the condition of satellite navigation signal interruption is improved.

Description

Clock error estimation method for satellite navigation time service type receiver
Technical Field
The invention relates to the field of satellite communication, in particular to a clock error estimation method for a satellite navigation time service type receiver.
Background
The clock error of the satellite navigation time service receiver is precisely estimated and forecasted, the capability of the receiver for continuously providing high-precision time service under the condition of satellite signal interruption or interference can be improved, and the method is a basic requirement for the time service receiver. The conventional clock error estimation method is proposed for the atomic clock error, a temperature compensation crystal oscillator and a constant temperature crystal oscillator are mainly used in a time service type receiver, and the physical mechanisms and corresponding physical characteristics of two types of frequency sources are different, so that the method is not suitable for adopting the completely same clock error estimation method.
Therefore, the clock difference of the common temperature compensation crystal oscillator and the constant temperature crystal oscillator of the navigation receiver needs to be accurately estimated, so that the capability of the time service type receiver for continuously providing high-precision time service under the condition of satellite navigation signal interruption is improved.
Disclosure of Invention
The invention mainly solves the technical problem of providing a clock error estimation method for a satellite navigation time service type receiver, and solves the problem that a clock error estimation method based on a temperature compensation crystal oscillator and a constant temperature crystal oscillator in the time service type receiver in the prior art is lack of a corresponding accurate clock error estimation method.
In order to solve the above technical problems, one technical solution adopted by the present invention is to provide a clock error estimation method for a satellite navigation time service type receiver, including the following steps: first, fitting a polynomial, at time t0、t1、t2、…、tN-1The clock error data of (1) correspond to x respectively0、x1、x2、…、xN-1Then the clock error data fits as:
Figure BDA0002247897550000011
wherein: a is0、a1、a2、…、amFor fitting polynomial coefficients, m is the polynomial degree, eiFor model error, i ═ 0,1,2, …, N-1; and secondly, simplifying the model, adopting a second-order polynomial model, and expressing the clock error data as follows: x is the number oft＝a0+a1(t-t0)+a2(t-t0)2+eiWherein the polynomial coefficient a0、a1、a2Also called initial clock error, clock bias and clock drift; thirdly, matrix solving, further expressed in a matrix form as: x ═ Ha + e, where: x is an N-dimensional observation vector, a is an m-dimensional coefficient vector, e is an N-dimensional error vector, and H is a design matrix which can be expressed as:
Figure BDA0002247897550000021
and estimating by adopting a least square method, wherein the coefficient vector a to be estimated is as follows:
Figure BDA0002247897550000022
in another embodiment of the clock error estimation method for the satellite navigation time service receiver, a Chebyshev model is introduced in the model simplification, and x (t) is set as a sampling interval tau0The clock difference sequence of (1): { x (t)0)，x(t1),…,x(tN-1) And t, and ti＝iτ0And then:
x(t)＝q0Φ0(t)+q1Φ1(t)+q2Φ2(t)+e(t)，
in the formula:
Figure BDA0002247897550000023
in another embodiment of the clock error estimation method for the satellite navigation time service type receiver, in the matrix solution, a vector phi is definedi＝[Φi(t0) Φi(t1) … Φi(tN-1)]TEstablishing a coefficient matrix phi ═ phi0Φ1Φ2) And then:
Figure BDA0002247897550000024
and recording the N-dimensional observation vector as L and V as the residual vector of model estimation, then:
V＝Φq-L
in the formula: observation vector L ═ x (t)0) x(t1) … x(tN-1)]TThe residual vector V ═ e (t)0) e(t1) … e(tN-1)]T，q＝[q1q2q3]TPhi is a coefficient matrix for a parameter to be estimated;
if the observation sequences are independent and equal in precision, and least square estimation is adopted, the estimation of the parameter vector q to be estimated is represented as follows:
q＝(ΦTΦ)-1ΦTL。
in another embodiment of the clock error estimation method for the satellite navigation time service type receiver, as the terms of the Chebyshev polynomial meet the normalized orthogonal characteristic, namely phiTΦ＝I3，I3For a 3 rd order unit matrix, the estimated value of the parameter q can be expressed as:
q＝ΦTL。
the invention has the beneficial effects that: the invention discloses a clock error estimation method for a satellite navigation time service type receiver. The method comprises the steps of fitting a polynomial, model simplification and matrix solution, wherein a Chebyshev model is introduced in the model simplification, and because vectors formed by various items of the polynomial of the Chebyshev model meet the standardized orthogonal characteristic, the parameter estimation and the statistical characteristic analysis can be simplified, the estimation precision of coefficient parameters can be improved, and more accurate clock error estimation and clock error prediction can be realized. The method is suitable for accurately estimating the clock error of the common temperature compensation crystal oscillator and the constant temperature crystal oscillator of the navigation receiver, thereby improving the capability of the time service receiver for continuously providing high-precision time service under the condition of satellite navigation signal interruption.
Drawings
FIG. 1 is a flow chart of an embodiment of a clock error estimation method for a satellite navigation time service type receiver according to the invention;
FIG. 2 is a simulation diagram of phase difference prediction accuracy analysis of a temperature compensated crystal oscillator according to another embodiment of the clock difference estimation method for a satellite navigation time service type receiver according to the present invention;
FIG. 3 is a simulation diagram of frequency offset prediction accuracy analysis of a temperature compensated crystal oscillator in another embodiment of the clock offset estimation method for a satellite navigation time service receiver according to the present invention;
FIG. 4 is a simulation diagram of phase difference prediction accuracy analysis of a constant temperature crystal oscillator according to another embodiment of the clock difference estimation method for a satellite navigation time service type receiver of the present invention;
FIG. 5 is a simulation diagram of frequency offset prediction accuracy analysis of a constant temperature crystal oscillator according to another embodiment of the clock offset estimation method for a satellite navigation time service type receiver.
Detailed Description
In order to facilitate an understanding of the invention, the invention is described in more detail below with reference to the accompanying drawings and specific examples. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It is to be noted that, unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Fig. 1 shows a flowchart of an embodiment of a clock error estimation method for a satellite navigation time service type receiver according to the invention. In fig. 1, the following steps are included:
in a first step S101, a polynomial is fitted at a time t0、t1、t2、…、tN-1The clock error data of (1) correspond to x respectively0、x1、x2、…、xN-1Then the clock error data fits as:
Figure BDA0002247897550000041
wherein: a is0、a1、a2、…、amFor fitting polynomial coefficients, m is the polynomial degree, eiFor model error, i ═ 0,1,2, …, N-1;
step S102, simplifying the model, adopting a second-order polynomial model, and expressing the clock error data as:
xt＝a0+a1(t-t0)+a2(t-t0)2+eiwherein the polynomial coefficient a0、a1、a2Also called initial clock error, clock bias and clock drift;
step S103, matrix solution, which is further expressed in a matrix form as follows:
x ═ Ha + e, where: x is an N-dimensional observation vector, a is an m-dimensional coefficient vector, e is an N-dimensional error vector, and H is a design matrix which can be expressed as:
Figure BDA0002247897550000051
and adopting least square estimation, wherein the coefficient vector a to be estimated is as follows:
preferably, in the model simplification S102, a chebyshev model is introduced, and x (t) is a sampling interval τ0The clock difference sequence of (1): { x (t)0),x(t1),…,x(tN-1) And t, and ti＝iτ0And then:
x(t)＝q0Φ0(t)+q1Φ1(t)+q2Φ2(t)+e(t)，
in the formula:
Figure BDA0002247897550000053
preferably, in the matrix solving S103, a vector Φ is definedi＝[Φi(t0) Φi(t1) … Φi(tN-1)]TEstablishing a coefficient matrix phi ═ phi0Φ1Φ2) And then:
and recording the N-dimensional observation vector as L and V as the residual vector of model estimation, then:
V＝Φq-L，
in the formula: observation vector L ═ x (t)0) x(t1) … x(tN-1)]TThe residual vector V ═ e (t)0) e(t1) … e(tN-1)]T，q＝[q1q2q3]TPhi is a coefficient matrix for a parameter to be estimated; if the observation sequences are independent and equal in precision, and least square estimation is adopted, the estimation of the parameter vector q to be estimated is represented as follows:
q＝(ΦTΦ)-1ΦTL。
further preferably, since the chebyshev polynomial terms satisfy the normalized orthogonality property, i.e., ΦTΦ＝I3，I3For a 3 rd order unit matrix, the estimated value of the parameter q can be expressed as:
q＝ΦTL。
furthermore, the residual error results after the chebyshev model introduced in step S102 of the present application is used to fit the clock error and the frequency difference of the temperature compensated crystal oscillator and the constant temperature crystal oscillator are respectively given. And (3) carrying out polynomial fitting by using 3600 measurement data in 1 hour in the simulation to obtain coefficient parameters of the model, and then predicting the clock error by using the parameters.
If the data measurement error is zero, the simulation result shows that the short-term fitting and clock error and frequency error forecasting results of the Chebyshev model are better, and the forecasting precision of the model is reduced along with the prolonging of the forecasting time.
As shown in fig. 2 and 3, the predicted residual error of the phase data of the temperature-compensated crystal oscillator in a short period (within 1 hour) is 10-7Magnitude, residual error of frequency data at 10-9Magnitude, long-term (after 1 hour) prediction residual of phase data increases with increasing prediction time, and residual error of frequency data is 10-8Magnitude, with a longest prediction time of 2261 second.
As shown in FIGS. 4 and 5, for a constant temperature crystal oscillator, the phase data of the short term (within 1 hour) is obtainedPredicted residual error is 10-9Magnitude, residual error of frequency data at 10-11Magnitude, long-term (after 1 hour) prediction residual of phase data increases with increasing prediction time, and residual error of frequency data is 10-10On the order of magnitude, a prediction error of not more than 1 microsecond is required for the navigation receiver, and the maximum prediction time is 13122 seconds.
Therefore, the invention discloses a clock error estimation method for a satellite navigation time service type receiver. The method comprises the steps of fitting a polynomial, model simplification and matrix solution, wherein a Chebyshev model is introduced in the model simplification, and because vectors formed by various items of the polynomial of the Chebyshev model meet the standardized orthogonal characteristic, the parameter estimation and the statistical characteristic analysis can be simplified, the estimation precision of coefficient parameters can be improved, and more accurate clock error estimation and clock error prediction can be realized. The invention mainly aims at the clock error modeling problem of a satellite navigation time service receiver, and the receiver can utilize a clock model to switch into a high-precision time keeping mode by accurately modeling and forecasting the clock error of a local clock when a satellite signal is interrupted or interfered, so as to continuously provide high-precision time and frequency services for a user. The method is suitable for accurately estimating the clock error of the common temperature compensation crystal oscillator and the constant temperature crystal oscillator of the navigation receiver, thereby improving the capability of the time service receiver for continuously providing high-precision time service under the condition of satellite navigation signal interruption.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all equivalent structural changes made by using the contents of the present specification and the drawings, or applied directly or indirectly to other related technical fields, are included in the scope of the present invention.

Claims (4)

1. A clock error estimation method for a satellite navigation time service type receiver is characterized by comprising the following steps:
first, fitting a polynomial, at time t0、t1、t2、…、tN-1The clock error data of (1) correspond to x respectively0、x1、x2、…、xN-1Then the clock error data fits as:
Figure FDA0002247897540000011
wherein: a is0、a1、a2、…、amFor fitting polynomial coefficients, m is the polynomial degree, eiFor model error, i ═ 0,1,2, …, N-1;
and secondly, simplifying the model, adopting a second-order polynomial model, and expressing the clock error data as follows:
xt＝a0+a1(t-t0)+a2(t-t0)2+ei，
wherein the polynomial coefficient a0、a1、a2Also called initial clock error, clock bias and clock drift;
thirdly, matrix solving, further expressed in a matrix form as:
X＝Ha+e，
wherein: x is an N-dimensional observation vector, a is an m-dimensional coefficient vector, e is an N-dimensional error vector, and H is a design matrix which can be expressed as:
Figure FDA0002247897540000012
and estimating by adopting a least square method, wherein the coefficient vector a to be estimated is as follows:
Figure FDA0002247897540000013
2. the method of claim 1, wherein a Chebyshev model is introduced in the model reduction, and x (t) is a sampling interval τ0The clock difference sequence of (1): { x (t)0),x(t1),…,x(tN-1) And t, and ti＝iτ0And then:
x(t)＝q0Φ0(t)+q1Φ1(t)+q2Φ2(t)+e(t)，
in the formula:
Figure FDA0002247897540000021
3. the method of claim 2, wherein in said matrix solving, a vector Φ is definedi＝[Φi(t0) Φi(t1) … Φi(tN-1)]TEstablishing a coefficient matrix phi ═ phi0Φ1Φ2) And then:
Figure FDA0002247897540000022
and recording the N-dimensional observation vector as L and V as the residual vector of model estimation, then:
V＝Φq-L，
in the formula: observation vector L ═ x (t)0) x(t1) … x(tN-1)]TThe residual vector V ═ e (t)0) e(t1) … e(tN-1)]T，q＝[q1q2q3]TPhi is a coefficient matrix for a parameter to be estimated;
if the observation sequences are independent and equal in precision, and the least square method is adopted for estimation, the estimation of the parameter vector q to be estimated is represented as follows:
q＝(ΦTΦ)-1ΦTL。
4. the method of claim 3, wherein the Chebyshev polynomial satisfies the normalized orthogonality property, ΦTΦ＝I3，I3In 3-order unit matrix, the estimated value of the parameter q isCan be expressed as:
q＝ΦTL。
CN201911023278.XA 2019-10-25 2019-10-25 Clock error estimation method for satellite navigation time service type receiver Pending CN110703280A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201911023278.XA CN110703280A (en) 2019-10-25 2019-10-25 Clock error estimation method for satellite navigation time service type receiver

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201911023278.XA CN110703280A (en) 2019-10-25 2019-10-25 Clock error estimation method for satellite navigation time service type receiver

Publications (1)

Publication Number Publication Date
CN110703280A true CN110703280A (en) 2020-01-17

Family

ID=69203517

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201911023278.XA Pending CN110703280A (en) 2019-10-25 2019-10-25 Clock error estimation method for satellite navigation time service type receiver

Country Status (1)

Country Link
CN (1) CN110703280A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116125512A (en) * 2023-04-13 2023-05-16 中国科学院精密测量科学与技术创新研究院 PPP self-adaptive clock difference model estimation method considering clock frequency time-varying characteristics

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102098119A (en) * 2011-01-27 2011-06-15 电子科技大学 Method for forecasting receiver clock error
CN103777518A (en) * 2014-01-22 2014-05-07 天津七一二通信广播有限公司 Satellite navigation timing system and method based on improved least square method
KR101503001B1 (en) * 2014-01-28 2015-03-18 건국대학교 산학협력단 System and method for determining fault of gnss using estimated value of baseline length and ground facility antenna of multiple gnss
CN104679989A (en) * 2015-01-27 2015-06-03 北京工业大学 Hydrogen atom clock error predicting method based on modified BP (back propagation) neural network
CN108196279A (en) * 2017-12-23 2018-06-22 航天恒星科技有限公司 Satellite clock correction based on real-time stream resolves and forecasting procedure
CN110082801A (en) * 2019-04-19 2019-08-02 南京理工大学 A kind of localization method of chip atomic clock auxiliary BDS/GPS receiver

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102098119A (en) * 2011-01-27 2011-06-15 电子科技大学 Method for forecasting receiver clock error
CN103777518A (en) * 2014-01-22 2014-05-07 天津七一二通信广播有限公司 Satellite navigation timing system and method based on improved least square method
KR101503001B1 (en) * 2014-01-28 2015-03-18 건국대학교 산학협력단 System and method for determining fault of gnss using estimated value of baseline length and ground facility antenna of multiple gnss
CN104679989A (en) * 2015-01-27 2015-06-03 北京工业大学 Hydrogen atom clock error predicting method based on modified BP (back propagation) neural network
CN108196279A (en) * 2017-12-23 2018-06-22 航天恒星科技有限公司 Satellite clock correction based on real-time stream resolves and forecasting procedure
CN110082801A (en) * 2019-04-19 2019-08-02 南京理工大学 A kind of localization method of chip atomic clock auxiliary BDS/GPS receiver

Non-Patent Citations (9)

* Cited by examiner, † Cited by third party
Title
ZHIXI NIE,ET AL: "An approach to GPS clock prediction for real‑time PPP during outages of RTS stream", 《GPS SOLUTIONS》 *
中国卫星导航定位协会编著: "《卫星导航定位与北斗系统应用 星参北半 位联世界 2016》", 30 September 2016, 测绘出版社 *
刘晓刚等: "利用切比雪夫多项式模型进行时间预报的研究", 《大地测量与地球动力学》 *
宋成等: "基于遗忘因子最小二乘的GPS接收机钟差预测算法研究", 《测绘科学》 *
王志浩等: "二次多项式模型和灰色理论模型在接收机钟差预报中的应用和比较", 《时间频率学报》 *
胡可等: "基于GPS与Wi-Fi位置指纹的室内外无缝定位研究", 《计算机工程》 *
陈安等: "短期接收机钟差预测方法及性能分析", 《全球定位系统》 *
马蕊等: "接收机钟差模型构建技术研究", 《通信技术》 *
魏子卿编著: "《魏子卿院士文集 下》", 31 December 2017, 测绘出版社 *

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116125512A (en) * 2023-04-13 2023-05-16 中国科学院精密测量科学与技术创新研究院 PPP self-adaptive clock difference model estimation method considering clock frequency time-varying characteristics

Similar Documents

Publication Publication Date Title
Huang et al. Real-time clock offset prediction with an improved model
Huang et al. Quality variation of GPS satellite clocks on-orbit using IGS clock products
Faruqi et al. Extended Kalman filter synthesis for integrated global positioning/inertial navigation systems
CN116125512B (en) PPP self-adaptive clock difference model estimation method considering clock frequency time-varying characteristics
Huang et al. Design of sigma-point Kalman filter with recursive updated measurement
Davis et al. Development of a Kalman filter based GPS satellite clock time-offset prediction algorithm
Shmaliy A simple optimally unbiased MA filter for timekeeping
Farina et al. A control theory approach to clock steering techniques
CN110703280A (en) Clock error estimation method for satellite navigation time service type receiver
EP2371063B1 (en) Frequency reference correction for temperature-frequency hysteresis error
Einmahl et al. A method of moments estimator of tail dependence
CN110554597A (en) hydrogen cesium time scale fusion method based on Vondark-Cepek filtering
CN111193528B (en) Gaussian filtering method based on non-linear network system under non-ideal condition
Cheng et al. Highly accurate real-time GPS carrier phase-disciplined oscillator
Shmaliy et al. Efficient predictive estimator for holdover in GPS-based clock synchronization
CN106871905B (en) Gaussian filtering substitution framework combined navigation method under non-ideal condition
Contreras-Gonzalez et al. Clock state estimation with the Kalman-like UFIR algorithm via TIE measurement
Gaderer et al. Achieving a realistic notion of time in discrete event simulation
US6651031B2 (en) Method for providing time using a multiple-clock model and a clock system using such a model
CN115856793A (en) Radar signal frequency deviation estimation compensation method
Carlos Jimenez Bias reduction in the estimation of diffusion processes from discrete observations
Yakimov et al. Digital estimation of correlation function moments using analog-stochastic sign quantization of a random process
Yazdkhasti et al. Adaptive H-infinity extended Kalman filtering for a navigation system in presence of high uncertainties
Depraetere et al. Identification of linear systems with binary outputs using short independent experiments
CN112698368B (en) Navigation signal analysis method of navigation receiver and computer readable medium

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
RJ01 Rejection of invention patent application after publication

Application publication date: 20200117

RJ01 Rejection of invention patent application after publication