CN110888108A - Positioning method based on RFID and phase calibration - Google Patents

Positioning method based on RFID and phase calibration Download PDF

Info

Publication number
CN110888108A
CN110888108A CN201911114087.4A CN201911114087A CN110888108A CN 110888108 A CN110888108 A CN 110888108A CN 201911114087 A CN201911114087 A CN 201911114087A CN 110888108 A CN110888108 A CN 110888108A
Authority
CN
China
Prior art keywords
positioning
phase
stage
antenna
sequence
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
Application number
CN201911114087.4A
Other languages
Chinese (zh)
Other versions
CN110888108B (en
Inventor
马永涛
刘涵凯
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.)
Tianjin University
Original Assignee
Tianjin University
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 Tianjin University filed Critical Tianjin University
Priority to CN201911114087.4A priority Critical patent/CN110888108B/en
Publication of CN110888108A publication Critical patent/CN110888108A/en
Application granted granted Critical
Publication of CN110888108B publication Critical patent/CN110888108B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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
    • 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
    • G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
    • G06K7/10009—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves
    • G06K7/10019—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves resolving collision on the communication channels between simultaneously or concurrently interrogated record carriers.
    • G06K7/10079—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves resolving collision on the communication channels between simultaneously or concurrently interrogated record carriers. the collision being resolved in the spatial domain, e.g. temporary shields for blindfolding the interrogator in specific directions
    • G06K7/10089—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves resolving collision on the communication channels between simultaneously or concurrently interrogated record carriers. the collision being resolved in the spatial domain, e.g. temporary shields for blindfolding the interrogator in specific directions the interrogation device using at least one directional antenna or directional interrogation field to resolve the collision
    • G06K7/10099—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves resolving collision on the communication channels between simultaneously or concurrently interrogated record carriers. the collision being resolved in the spatial domain, e.g. temporary shields for blindfolding the interrogator in specific directions the interrogation device using at least one directional antenna or directional interrogation field to resolve the collision the directional field being used for pinpointing the location of the record carrier, e.g. for finding or locating an RFID tag amongst a plurality of RFID tags, each RFID tag being associated with an object, e.g. for physically locating the RFID tagged object in a warehouse

Abstract

The invention discloses a positioning method based on RFID and phase calibration, which comprises a label data acquisition stage, a pixel database establishment stage and a matching positioning stage, wherein the matching positioning stage comprises the following steps: establishing a phase center offset library; the phase calibration technology is added into the positioning process, a matching function is established, and the positioning problem is converted into a search result
Figure DDA0002273572280000011
Maximum grid point
Figure DDA0002273572280000012

Description

Positioning method based on RFID and phase calibration
Technical Field
The invention belongs to the technical field of RFID positioning, and aims to solve the problem of positioning a label by using a label phase and phase calibration technology obtained by a reader antenna moving along a known track.
Background
With the popularization of mobile internet and smart phones, Location Based Service (LBS) has gained wide attention, driving the development of various modern navigation and positioning technologies. The well-known outdoor positioning technology GPS cannot be applied to indoor positioning due to occlusion of buildings and the like. In recent years, many indoor positioning technologies based on wireless networks, such as WiFi positioning, bluetooth positioning, ZigBee positioning, RFID positioning, and the like, have appeared. The rapid development of the internet of things technology enables the RFID technology to be widely applied to positioning, tracking and backtracking of production, logistics, medicines and the like. In the aspect of indoor positioning, compared with other positioning methods, the RFID has the characteristics of low cost, high positioning accuracy, high identification speed, strong anti-interference performance and the like, and has the advantages of non-contact, non-line-of-sight and capability of identifying and tracking multiple targets simultaneously, so that the RFID gradually becomes the first choice for indoor positioning.
The wireless positioning technology of the RFID is mainly divided into two types: one is based on a non-ranging method, usually without a determined signal propagation model, a large number of reference tags are arranged in a positioning area in advance, the reference tags with similar positions are screened out after certain operation, and the final positioning coordinates are determined by using the reference tags; the other method is a distance measurement-based method, the distances between a person and a plurality of wireless point devices are determined according to a signal propagation model, and the position of the person is determined through geometric relation transformation. The method based on the distance measurement mainly comprises the following steps: the aoa (angle of arrival) signal angle of arrival method, the toa (time of arrival) signal time of arrival method, the tdoa (time Difference of arrival) signal time Difference of arrival method, and the rssi (received signal strength indication) received signal strength method. The RSSI positioning method estimates the received label by establishing a propagation model through signal strength and distance, has low power and low cost, does not need additional equipment function support, and is limited in positioning precision because signal energy information is influenced by various factors such as non-line-of-sight, multipath and the like besides distance factors in the propagation process. TOA and TDOA location methods compute distance primarily by measuring the time of flight of electromagnetic waves, which requires or requires precise reference times for clock synchronization of hardware facilities. The AOA positioning method mainly measures the arrival direction of the label signal through an antenna array of a reader, and the method needs the antenna array with special functions, so that the accuracy is limited by the performance of equipment, and the cost is relatively high.
In a scene that the tag and the reader move relatively, the synthetic aperture technology can form a virtual antenna array by using the relative movement between the antenna and the target, and the position of the target is determined by coherent superposition of a plurality of sampling phase values, so that the synthetic aperture technology has good anti-noise and multi-path interference capabilities, and can improve the positioning accuracy. And the method is suitable for unique dynamic application scenes such as handheld devices and the like, and does not need to additionally arrange a reference label and a time-consuming calibration stage. Meanwhile, the cost is relatively low, and the positioning can be realized only by commercial equipment.
Existing RFID location methods typically consider the antenna phase center to be constant. This is possible when the antenna and tag are stationary. However, in SARRFID, relative movement of the reader antenna and tag changes the angle of arrival of the signal, resulting in a change in the antenna phase center, which we call Phase Center Shift (PCS). The PCS will affect the observed phase and cause positioning errors. Therefore, the invention provides a positioning method based on RFID and phase calibration.
Disclosure of Invention
The invention relates to a positioning method based on RFID and phase calibration, which utilizes a synthetic aperture technology to assist in collecting label information data and adopts a method based on phase and amplitude data to perform matching positioning. The invention obtains the phase and amplitude data of the corresponding label at different antenna positions through the reader antenna moving along the known track, establishes a pixel database through a phase and amplitude data model, and carries out high-precision matching positioning on the label by calculating the similarity of a label measurement vector and a pixel point data vector. The invention does not depend on additional equipment and a reference label, can acquire the position of the label in the area to be positioned only by one mobile reader antenna, and can realize millimeter-level positioning accuracy. The technical scheme of the invention is as follows:
a positioning method based on RFID and phase calibration comprises a label data acquisition stage, a pixel database establishment stage and a matching positioning stage, wherein,
the label data acquisition stage comprises the following steps:
1) carrying out data acquisition on an area to be positioned where the tag is located through a mobile reader antenna: the reader antenna moves along a known track and collects the backscatter signal data of the tags for multiple times, the tag data of N positions are collected in total, and when the reader antenna moves to the nth position, N is more than or equal to 1 and less than or equal to N, and the position is determined, the phase of the backscatter signal of the tags collected by the reader antenna is deltanThe phase sequence of the acquisitionColumn Θ is:
Θ＝{δ1，...，δN}
simultaneously acquiring time sequences corresponding to the phase sequences one by one
Figure BDA0002273572260000021
Figure BDA0002273572260000022
The pixel database establishing stage comprises the following steps:
1) dividing the location area into equally spaced grids, for each grid point
Figure BDA0002273572260000023
Using time series
Figure BDA0002273572260000024
And a known speed
Figure BDA0002273572260000025
Generating a virtual position sequence
Figure BDA0002273572260000026
Figure BDA0002273572260000031
Wherein
Figure BDA0002273572260000032
Is the sign of the integral;
2) let the position of the antenna be paCalculating a sequence of positions
Figure BDA0002273572260000033
The distance between each position and the antenna is obtained to obtain a virtual distance sequence
Figure BDA0002273572260000034
Figure BDA0002273572260000035
Wherein the content of the first and second substances,
Figure BDA0002273572260000036
wherein | | · | | is a norm symbol;
3) by virtual distance sequences
Figure BDA0002273572260000037
Calculating a virtual phase sequence:
Figure BDA0002273572260000038
wherein the content of the first and second substances,
Figure BDA0002273572260000039
wherein f is the main frequency of the signal, and c is the speed of light;
in the stage of the matching positioning stage, the method comprises the following steps:
1) establishing a phase center offset library: calculating each virtual position p and antenna position pa，mAngle of arrival of signals therebetween
Figure BDA00022735722600000310
Obtaining phase center offset
Figure BDA00022735722600000311
2) Adding a phase calibration technology into a positioning process, establishing a matching function:
Figure BDA00022735722600000312
where M is the number of antennas, Σ is the sum sign, exp is a power function of the natural logarithm, and where
Figure BDA00022735722600000313
3) The positioning problem is converted into a search
Figure BDA00022735722600000314
Maximum grid point
Figure BDA00022735722600000315
The invention relates to a positioning method based on RFID and phase calibration, which comprises the steps of firstly adopting a synthetic aperture technology, carrying out matching positioning by a method of acquiring phase and amplitude data of a label at different positions at certain space intervals through a reader antenna moving along a known track, then establishing a pixel database of an area to be positioned based on a phase and amplitude data model, finally calculating the similarity between a label measurement vector and a pixel point data vector to carry out matching positioning, and selecting a pixel point with the highest similarity, wherein the position of the pixel point corresponds to label information. Compared with the traditional RFID label positioning method, the method can be more suitable for dynamic scenes such as conveyor belts, handheld equipment and the like, and has good anti-multipath interference capability. In addition, the invention can carry out high-precision positioning on the label only by a mobile reader antenna without an additional reference label and a time-consuming calibration stage. Existing RFID location methods typically consider the antenna phase center to be constant. This is possible when the antenna and tag are stationary. However, in SAR RFID, relative movement of the reader antenna and tag changes the angle of arrival of the signal, resulting in a change in the antenna phase center, which we refer to as Phase Center Shift (PCS). The PCS will affect the observed phase and cause positioning errors. Therefore, the invention provides a positioning method based on RFID and phase calibration.
Drawings
FIG. 1 is a positioning scenario.
Fig. 2 shows the phase center shift.
Fig. 3 shows the positioning result.
Detailed Description
The following describes a positioning method based on RFID and phase calibration according to the present invention with reference to the accompanying drawings.
A tag localization scenario based on synthetic aperture technology is shown in fig. 1. In a tag data acquisition stage, a 4m × 4m scene to be positioned is established, a moving track of a reader antenna is a straight line along an X axis, the moving track is located at a boundary of an area to be positioned by 20cm, the total length is 4m, and measurement data of a tag is acquired at a space interval of 4cm every time the reader moves, so that 100(N equals to 100) readings are acquired by the antenna during the moving period when the working frequency of the reader is 867.5MHz and the corresponding wavelength is 34.6 cm. The distance between the pixel points of the region to be positioned in the pixel database establishing stage can be set to be 5cm, and if higher positioning precision is expected, the pixel points can be set more densely.
The positioning method estimates the position of the label measurement data in real time according to the acquired label measurement data, the algorithm flow is shown in figure 2, and the steps are as follows:
1) and carrying out data acquisition on the area to be positioned where the tag is located through the mobile reader antenna. The reader antenna moves along a known track and collects the backscattering signal data of the labels for multiple times, and the label data of N positions are collected in total. When the reader antenna moves to the nth position (N is more than or equal to 1 and less than or equal to N), the phase of the label backscatter signal collected by the reader antenna is deltanThen, the acquired phase sequence Θ is:
Θ＝{δl，...，δN}
meanwhile, the time sequence corresponding to the phase sequence one by one can be collected
Figure BDA0002273572260000051
Figure BDA0002273572260000052
2) Dividing the location area into equally spaced grids, for each grid point
Figure BDA0002273572260000053
Can utilize time series
Figure BDA0002273572260000054
And a known speed
Figure BDA0002273572260000055
Generating a virtual position sequence
Figure BDA0002273572260000056
Figure BDA0002273572260000057
Wherein
Figure BDA0002273572260000058
Is the sign of the integral.
3) Let the position of the antenna be paCalculating a sequence of positions
Figure BDA0002273572260000059
The distance from each position to the antenna can obtain a virtual distance sequence
Figure BDA00022735722600000510
Figure BDA00022735722600000511
Wherein the content of the first and second substances,
Figure BDA00022735722600000512
where | | · | | is a norm symbol.
4) By virtual distance sequences
Figure BDA00022735722600000513
The virtual phase sequence can be calculated:
Figure BDA00022735722600000514
wherein the content of the first and second substances,
Figure BDA00022735722600000515
where f is the signal dominant frequency and c is the speed of light.
5) And establishing a phase center offset library. Calculating each virtual position p and antenna position pa，mAngle of arrival of signals therebetween
Figure BDA00022735722600000516
Thereby obtaining the phase center offset
Figure BDA00022735722600000517
6) Adding a phase calibration technology into a positioning process, establishing a matching function:
Figure BDA00022735722600000518
wherein M is the number of antennas. And Σ is the summation sign. exp is a power function of the natural logarithm, and wherein
Figure BDA0002273572260000061
7) At this point, the positioning problem is converted into a search
Figure BDA0002273572260000062
Maximum grid point
Figure BDA0002273572260000063
Namely:
Figure BDA0002273572260000064

Claims (1)

1. a positioning method based on RFID and phase calibration comprises a label data acquisition stage, a pixel database establishment stage and a matching positioning stage, wherein,
the label data acquisition stage comprises the following steps:
1) carrying out data acquisition on an area to be positioned where the tag is located through a mobile reader antenna: the reader antenna moves along a known track and collects the backscatter signal data of the tags for multiple times, the tag data of N positions are collected in total, and when the reader antenna moves to the nth position, N is more than or equal to 1 and less than or equal to N, and the position is determined, the phase of the backscatter signal of the tags collected by the reader antenna is deltanThen, the acquired phase sequence Θ is:
Θ＝{δ1，...，δN}
simultaneously acquiring time sequences corresponding to the phase sequences one by one
Figure FDA0002273572250000011
Figure FDA0002273572250000012
The pixel database establishing stage comprises the following steps:
1) dividing the location area into equally spaced grids, for each grid point
Figure FDA0002273572250000013
Using time series
Figure FDA0002273572250000014
And a known velocity v to generate a sequence of virtual positions
Figure FDA0002273572250000015
Figure FDA0002273572250000016
Wherein
Figure FDA0002273572250000017
Is the sign of the integral.
2) Let the position of the antenna be paCalculating a sequence of positions
Figure FDA0002273572250000018
The distance between each position and the antenna is obtained to obtain a virtual distance sequence
Figure FDA0002273572250000019
Figure FDA00022735722500000110
Wherein the content of the first and second substances,
Figure FDA00022735722500000111
wherein | | · | | is a norm symbol;
3) by virtual distance sequences
Figure FDA00022735722500000112
Calculating a virtual phase sequence:
Figure FDA00022735722500000113
wherein the content of the first and second substances,
Figure FDA00022735722500000114
where f is the signal dominant frequency and c is the speed of light.
A matching positioning stage, comprising the following steps:
1) establishing a phase center offset library: calculating each virtual position p and antenna position pa，mAngle of arrival of signals therebetween
Figure FDA0002273572250000021
Obtaining phase center offset
Figure FDA0002273572250000022
2) Adding a phase calibration technology into a positioning process, establishing a matching function:
Figure FDA0002273572250000023
where M is the number of antennas, Σ is the sum sign, exp is a power function of the natural logarithm, and where
Figure FDA0002273572250000024
The positioning problem is converted into a search
Figure FDA0002273572250000025
Maximum grid point
Figure FDA0002273572250000026
CN201911114087.4A 2019-11-14 2019-11-14 Positioning method based on RFID and phase calibration Active CN110888108B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201911114087.4A CN110888108B (en) 2019-11-14 2019-11-14 Positioning method based on RFID and phase calibration

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201911114087.4A CN110888108B (en) 2019-11-14 2019-11-14 Positioning method based on RFID and phase calibration

Publications (2)

Publication Number Publication Date
CN110888108A true CN110888108A (en) 2020-03-17
CN110888108B CN110888108B (en) 2022-05-17

Family

ID=69747563

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201911114087.4A Active CN110888108B (en) 2019-11-14 2019-11-14 Positioning method based on RFID and phase calibration

Country Status (1)

Country Link
CN (1) CN110888108B (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111505572A (en) * 2020-04-07 2020-08-07 电子科技大学 RFID moving track detection method
CN113343728A (en) * 2021-05-19 2021-09-03 天津大学 RFID positioning method based on nonlinear optimization method
CN114241409A (en) * 2021-12-13 2022-03-25 浙江大学 Disease early warning system and method based on abnormal excrement and anatomical images of caged chickens

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100109844A1 (en) * 2008-11-03 2010-05-06 Thingmagic, Inc. Methods and Apparatuses For RFID Tag Range Determination
CN103995250A (en) * 2014-05-29 2014-08-20 南京泰系信息技术有限公司 Method for tracking radio frequency tag track
CN106932752A (en) * 2015-12-29 2017-07-07 常州浅湾电子科技有限公司 A kind of real-time indoor orientation method based on RF phse monitoring
CN107682843A (en) * 2016-08-01 2018-02-09 恩智浦有限公司 Method and system based on the frequency response measurement phase offset in NFC system
CN108242946A (en) * 2018-01-05 2018-07-03 中国矿业大学 A kind of coal mine down-hole tunnel object localization method based on MIMO-OFDM technologies
CN110187333A (en) * 2019-05-23 2019-08-30 天津大学 A kind of RFID label tag localization method based on synthetic aperture radar technique

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100109844A1 (en) * 2008-11-03 2010-05-06 Thingmagic, Inc. Methods and Apparatuses For RFID Tag Range Determination
CN103995250A (en) * 2014-05-29 2014-08-20 南京泰系信息技术有限公司 Method for tracking radio frequency tag track
CN106932752A (en) * 2015-12-29 2017-07-07 常州浅湾电子科技有限公司 A kind of real-time indoor orientation method based on RF phse monitoring
CN107682843A (en) * 2016-08-01 2018-02-09 恩智浦有限公司 Method and system based on the frequency response measurement phase offset in NFC system
CN108242946A (en) * 2018-01-05 2018-07-03 中国矿业大学 A kind of coal mine down-hole tunnel object localization method based on MIMO-OFDM technologies
CN110187333A (en) * 2019-05-23 2019-08-30 天津大学 A kind of RFID label tag localization method based on synthetic aperture radar technique

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
马永涛 等: "基于群智感知和非监督式学习的室内定位指纹库构建算法", 《天津大学学报(自然科学与工程技术版)》 *

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111505572A (en) * 2020-04-07 2020-08-07 电子科技大学 RFID moving track detection method
CN111505572B (en) * 2020-04-07 2023-03-10 电子科技大学 RFID (radio frequency identification) moving track detection method
CN113343728A (en) * 2021-05-19 2021-09-03 天津大学 RFID positioning method based on nonlinear optimization method
CN114241409A (en) * 2021-12-13 2022-03-25 浙江大学 Disease early warning system and method based on abnormal excrement and anatomical images of caged chickens

Also Published As

Publication number Publication date
CN110888108B (en) 2022-05-17

Similar Documents

Publication Publication Date Title
CN110187333B (en) RFID label positioning method based on synthetic aperture radar technology
CN107817469B (en) Indoor positioning method based on ultra-wideband ranging in non-line-of-sight environment
CN110888108B (en) Positioning method based on RFID and phase calibration
Ijaz et al. Indoor positioning: A review of indoor ultrasonic positioning systems
CN105676171A (en) Single channel dual base station ultra-short wave signal spatial positioning method
CN103995250B (en) Radio-frequency (RF) tag trajectory track method
CN106793087B (en) Array antenna indoor positioning method based on AOA and PDOA
CN107132505A (en) The through direct localization method of multiple target with non-through mixing field scape
CN101424737A (en) Wireless sensor network signal chart positioning method based on signal strength distance
CN103630875A (en) Radio frequency identifying and positioning method and device
CN105044667A (en) Double-satellite tracking method, device and system for moving target
Khan et al. Location estimation technique using extended 3-D LANDMARC algorithm for passive RFID tag
CN104569912A (en) Single-station passive area positioning method for fixed monitoring station
Zhou-guo et al. An improved indoor UHF RFID localization method based on deviation correction
CN110850401B (en) RFID label positioning method based on motion model and synthetic aperture
Nikonowicz et al. Indoor positioning trends in 5G-advanced: Challenges and solution towards centimeter-level accuracy
CN109640253B (en) Mobile robot positioning method
CN110658491A (en) Direction finding system, direction finding method, positioning system and positioning method
CN110736962A (en) Target tracking method under passive RFID (radio frequency identification) scenes
CN110703188B (en) Six-degree-of-freedom attitude estimation system based on RFID
Bingbing et al. An indoor positioning algorithm and its experiment research based on RFID
Lowrance et al. Direction of arrival estimation for robots using radio signal strength and mobility
US7965237B2 (en) Mobile system and method for position estimation
CN114205741A (en) UWB-based TOA and position fingerprint combined indoor positioning method
CN109800786B (en) UHF RFID tag indoor positioning method based on OPMIF

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