CN110954088B - Method for observing space target with high coverage rate - Google Patents
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- 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
- G01S19/20—Integrity monitoring, fault detection or fault isolation of space segment
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- 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
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
Abstract
The invention relates to a high-coverage observation spaceA method of targeting, comprising: determining the number N of observation satellites for observing the space target; determining the observation lower edge of each observation satellite, wherein the tangent point of the observation lower edge of each observation satellite is determined so that the angle between the line connecting the tangent point and the center of the earth and the line connecting the observation satellite and the center of the earth is
Determining the orbit height of each observation satellite according to the determined tangent point of the observation satellite; determining an observation upper edge of each observation satellite; and observing, by each observation satellite, the spatial object in a field of view constituted by the upper and lower edges of observation. The invention also relates to a corresponding observation constellation. The invention can obviously improve the coverage rate of observation constellations, and can reduce the load capacity of a telescope for observing satellites, thereby improving the observation reliability and reducing the observation cost.
Description
Technical Field
The present invention relates generally to the field of satellite monitoring of a spatial target, and more particularly to a method for observing a spatial target with high coverage. Furthermore, the invention relates to an observation constellation with high coverage.
Background
In many fields such as scientific research, military, national defense, national security and the like, space targets such as meteorites, planets, flyers, space debris and the like need to be monitored so as to give the positions and changes of the space targets in the sky, and further determine the positions of the space targets so as to calculate or correct the operation tracks of the space targets. After the orbit is obtained, the accurate position information of the space target can be obtained, so that relevant information is provided for the safe flight of the space spacecraft, or the space spacecraft can be used for other scientific research purposes or safety purposes.
Currently, ground-based systems are primarily relied upon for space debris monitoring. However, ground-based systems such as ground-based telescopes are affected by weather and sunlight when observing stars and space debris, the observation arc segment of each day is limited, and the re-observation period of the debris is too long; although the ground-based radar is not affected by weather and sunlight, the ground-based radar is limited by the geographical position, after the debris is observed, more than 12 hours are needed for the next observation, the space debris observation generated by the sudden space event can be observed only after 8-12 hours, and the safety of the on-orbit aircraft is greatly threatened.
Compared with a foundation system, the space-based system has the following advantages: (1) the space-based system is not influenced by weather conditions, and can work all the time; (2) space debris observed by the space-based system does not pass through an atmospheric system, and the space-based system monitoring has a higher signal-to-noise ratio than a ground-based system.
However, there is a need for a space based system with higher coverage, thereby further improving observation reliability and reducing hardware and software costs of the space based system.
Disclosure of Invention
The invention aims to provide a method for observing a space target with high coverage rate and an observation constellation with high coverage rate, by which the coverage rate of the observation constellation can be obviously improved and the load capacity of a telescope of an observation satellite can be reduced, thereby improving the observation reliability and reducing the observation cost.
In a first aspect of the invention, the aforementioned task is solved by a method for observing a target in a space with high coverage, comprising:
determining the number N of observation satellites for observing the space target;
determining an observed lower edge for each observation satellite, wherein the observed lower edge for each observation satelliteThe tangent point of the edge is determined such that the line connecting said tangent point and the center of the earth encloses an angle with the line connecting the satellite and the center of the earth
Determining the orbit height of each observation satellite according to the determined tangent point of the observation satellite;
determining an observation upper edge of each observation satellite; and
the spatial object is observed by each observation satellite in a field of view constituted by said upper and lower observation edges.
In one embodiment of the invention, it is provided that the number N is 4, 6, 8, 9, 10 or 12.
In a preferred embodiment of the invention, it is provided that each observation satellite is equipped with two optical telescopes, wherein the two optical telescopes are oriented in opposite directions and each have the observation upper edge and the observation lower edge.
In a further preferred embodiment of the invention, it is provided that the observation of the spatial object by each observation satellite in the field of view formed by the upper observation edge and the lower observation edge comprises the following steps:
observing, by a first observation satellite, a spatial target in a first field of view of the first observation satellite; and
the spatial target is observed by a second satellite adjacent to the first observation satellite in a second field of view of the second observation satellite, wherein the first field of view covers a portion of the space not covered by the second field of view and the second field of view covers a portion of the space not covered by the first field of view.
In one embodiment of the invention, the N observation satellites are distributed uniformly over the circumference of the earth.
In a further embodiment of the invention, it is provided that the method further comprises the following steps:
providing an observation distance of an observation satellite;
determining an observation angle according to the orbital height of the observation satellite and the number of the observation satellites; and
and determining the load of an optical telescope for observing the satellite according to the observation distance and the observation angle.
In a further embodiment of the invention, it is provided that the N observation satellites travel on the same orbital plane and that the fields of view of the N observation satellites adjoin one another to form an observation zone around the earth.
In a second aspect of the invention, the aforementioned task is solved by an observation constellation with high coverage, comprising:
a console configured to perform the following actions:
determining the number N of observation satellites for observing the space target;
determining the observation lower edge of each observation satellite, wherein the tangent point of the observation lower edge of each observation satellite is determined so that the angle between the line connecting the tangent point and the center of the earth and the line connecting the satellite and the center of the earth is
Determining the orbit height of each observation satellite according to the determined tangent point of the observation satellite; and
determining an observation upper edge of each observation satellite; and
n observation satellites, wherein each observation satellite is configured to perform the following actions:
move to the corresponding track height determined by the console; and
the spatial object is observed in a respective field of view constituted by said observed upper edge and observed lower edge.
The invention has at least the following beneficial effects:
(1) the observation coverage can be greatly improved by the invention, which is based on the following insights of the inventor: the inventors have unexpectedly found, through research, that when the tangent point of the lower edge of the satellite observation is selected such that the angle between the line connecting said tangent point and the center of the earth's sphere and the line connecting said satellite and the center of the earth's sphere is equal to
In time, the uncovered blind area between the lower edge of each observation and the earth (or the atmosphere) can be minimized, so that the observation coverage rate is greatly improved;
(2) the invention can also reduce the number of satellite-borne telescopes by selecting the tangent point, because the selection of the tangent point can ensure that the visual field which can be realized by a single telescope of the satellite is larger, and the visual field of each satellite additionally covers the space part which is not covered by the adjacent satellite, thereby ensuring that the larger visual field can be realized by the telescopes with the same number, and reducing the load of the telescopes loaded by the satellite;
(3) the space target constructed by the invention can quickly find the satellite constellation, the coverage efficiency of the low-orbit space target is high, an annulus formed by winding the earth for one circle can be realized, and the complete monitoring of low-orbit space fragments is realized;
(4) the space-based space target constructed by the method can quickly find the satellite constellation, the observation timeliness of the space target is high, the revisit period is high, and each target passes through the observation girdle twice in one orbit period, so that the satellite constellation is observed twice. For example, target fragments may be observed once per hour;
(5) the space-based space fragments constructed by the method can be used for rapidly finding satellite constellations, the adopted load design scheme is simple, and less observation loads can be used for realizing excellent observation efficiency;
(6) the space-based space target constructed by the invention can quickly find the satellite constellation, and can realize uninterrupted work for 24 hours all day without being influenced by atmospheric environment, weather and solar illumination when being deployed on a solar synchronous orbit in the morning and evening.
Drawings
The invention is further elucidated with reference to the drawings in conjunction with the detailed description.
Fig. 1 shows a flow of a method according to the invention;
FIG. 2 illustrates the field of view of two adjacent observation satellites according to the present invention;
FIG. 3 illustrates a field of view of an observation satellite according to the prior art;
FIG. 4 shows an observation annulus of a 4-star constellation according to the present invention; and
fig. 5 shows the observation annulus of a 6-star constellation according to the present invention.
Detailed Description
It should be noted that the components in the figures may be exaggerated and not necessarily to scale for illustrative purposes. In the figures, identical or functionally identical components are provided with the same reference symbols.
In the present invention, "disposed on …", "disposed over …" and "disposed over …" do not exclude the presence of an intermediate therebetween, unless otherwise specified. Further, "disposed on or above …" merely indicates the relative positional relationship between two components, and may also be converted to "disposed below or below …" and vice versa in certain cases, such as after reversing the product direction.
In the present invention, the embodiments are only intended to illustrate the aspects of the present invention, and should not be construed as limiting.
In the present invention, the terms "a" and "an" do not exclude the presence of a plurality of elements, unless otherwise specified.
It is further noted herein that in embodiments of the present invention, only a portion of the components or assemblies may be shown for clarity and simplicity, but those of ordinary skill in the art will appreciate that, given the teachings of the present invention, required components or assemblies may be added as needed in a particular scenario.
It is also noted herein that, within the scope of the present invention, the terms "same", "equal", and the like do not mean that the two values are absolutely equal, but allow some reasonable error, that is, the terms also encompass "substantially the same", "substantially equal". By analogy, in the present invention, the terms "perpendicular", "parallel" and the like in the directions of the tables also cover the meanings of "substantially perpendicular", "substantially parallel".
In the present invention, the console may be implemented in software, hardware, or firmware, or a combination thereof. The console may exist alone or may be part of a component. For example, the console may be onboard hardware or software, or may be hardware or software in a ground station that may communicate with a satellite.
The numbering of the steps of the methods of the present invention does not limit the order of execution of the steps of the methods. Unless specifically stated, the method steps may be performed in a different order.
The invention finds that the existing space target observation schemes have the problems of low coverage rate, high single-star telescope load and the like. In order to solve the technical problem, the invention discloses a construction scheme for quickly finding a satellite constellation by a space target, which comprises the following steps:
determining initial parameters of an observation satellite according to information of an observed space target and information of the observation satellite, wherein the initial parameters comprise: the distance observed by the satellite, the orbit height of the observation satellite and the number of the observation satellites;
determining an observation angle according to the initial observation parameters;
and determining the requirement of the load according to the observation distance and the observation angle.
According to the load requirement, a space target is constructed to quickly find a satellite constellation; the constellation system is characterized in that a plurality of observation satellites are arranged on the same orbital plane, each satellite performs forward and backward observation when running along an orbit, and an observation range covers adjacent satellites to form an observation annular zone.
The space target rapid discovery satellite constellation provided by the invention can comprise: the number of the satellites such as 4 stars, 6 stars, 8 stars, 9 stars, 10 stars and 12 stars; each satellite has the same composition and carries two optical telescope loads, and the loads are respectively arranged on two sides of the satellite, so that the telescopes can observe front and back along the track.
Furthermore, the satellite observation range is determined by the distribution range of the targets, the distribution range of the common targets is 300-2000 km, so the observation range can be selected;
furthermore, the observation range of the lower boundary of the satellite is higher than the adjacent atmosphere of the earth so as to avoid the influence of the earth, and the height is generally 100 kilometers;
furthermore, the downward observation boundary of the satellite load needs to be tangent to the earth's limb atmosphere, so that the coverage efficiency of the low-orbit space target is highest;
further, when the adjacent tangent position is determined, the number of satellites and the orbital height of the satellites can be determined;
further, when the number of satellites and the orbital height of the satellites are determined, the detection range and the detection angle of the load can be determined, and therefore the requirement of the load can be determined.
In the construction method for quickly finding the satellite constellation by the space target, the orbit heights of observation satellites with different observation quantities are determined according to the position design of the tangent point.
Because two adjacent satellites are preferably observed symmetrically, 3/4 with the tangent point of the included angle between the two satellites is selected when the observation coverage range of the two adjacent satellites is the maximum, namely, the included angle between the satellite 1 and the satellite 2 is
(N satellites form a network), the angle between the connecting line between the tangent point of the lower edge of the satellite 1 and the center of the earth and the connecting line between the satellite 1 and the center of the earth is
The included angle between the connecting line of the tangent point of the lower edge observed by the satellite 2 and the center of the earth and the connecting line between the satellite 2 and the center of the earth is also
The invention is further elucidated with reference to the drawings in conjunction with the detailed description.
Fig. 1 shows a flow of a method 100 according to the invention.
At step 102, a number N of observation satellites is determined for observing a target in space. The number N is 4, 6, 8, 9, 10, or 12. The observation satellites are preferably evenly distributed over the circumference of the earth, that is, adjacent observation satellites are spaced at the same angle.
At step 104, the observation lower edge of each observation satellite is determined, wherein the tangent point of the observation lower edge of each observation satellite is determined such that the line connecting the tangent point and the center of the earth's sphere and the line connecting the observation satellite and the center of the earth's sphere form an angle of
By means of the tangent point thus determined, the coverage can be significantly increased and the telescope load of the satellite can be reduced. For details, reference is made to the following description.
At step 106, the orbital altitude of each observation satellite is determined based on the determined tangent point for that observation satellite. In the case where the angle between the tangent point and the adjacent satellite is determined, the satellite to geocentric distance can be uniquely determined, and thus the orbital altitude of the satellite can be determined.
At step 108, an observed upper edge for each observed satellite is determined. The determination of the upper edge can be determined, for example, depending on the desired range of orbit of the spatial target to be observed or the desired observation angle.
In step 110, a spatial target is observed by each observation satellite in a field of view consisting of the upper and lower edges of observation. For example, the spatial object is observed by a plurality of telescopes (or cameras) per observation satellite, which may each have the field of view or may have the field of view in combination, i.e. the fields of view of the plurality of telescopes together constitute the determined field of view. In a preferred embodiment of the invention, each observation satellite has two oppositely oriented telescopes, each telescope having the above-mentioned fields of view, i.e. the fields of view of the two telescopes can cover the fields of view on both sides of the satellite.
The details of the present invention are further set forth below.
Fig. 2 shows the field of view of two adjacent observation satellites according to the invention. Referring to fig. 2, a design of a load directing mode in an embodiment of the present invention is shown. The observation lower edge of the load is tangent to the earth edge atmosphere, and the observation covers the adjacent satellite to realize the observation of the adjacent satellite.
Referring to FIG. 2, circle O is centered on Earth center O and has a radius Re + he, where Re represents the Earth's radius, he represents the Earth's peripherial atmospheric altitude, and OA and OB are two platform orientations. A and B are the platform positions. If the observation zone has N platforms in total
In the figure, OC is a bisector of & AOB and OD is a bisector of & COB, thus
In order to ensure the lowest detection height, the lower boundary AD of the telescope visual field is tangent to the circle O, the tangent point is D, and then the ground center distance of the platform A is
The lowest detected geocentric distance is
The upper boundary AE of the field of view is crossed with OC and E and is crossed with OB and F, and r is the same as the detection requirement2OE RE + hl, where hl is the upper boundary of the field of view observation, then
So that the angle of view &is
∠DAE＝∠OAE-(90°-a) (7)
If r is0＞r2And a-b in the formula (5) is replaced by a + b. Otherwise, OF will be less than r2Full coverage of the he-hl target is not achieved.
Thus, at the object between OA and OB, a stable observation geometry is established, with the A-platform (in this application, "platform" is used interchangeably with "observation satellite") observing objects near the B-platform, which observes objects near the A-platform, objects in the intersection of the two fields of view, and has the opportunity to intersect the observation.
According to the above calculation mode, when the number of platforms is selected, the orbit height of the satellite can also be determined, and the field angle of the load carried by the satellite can also be determined.
And carrying out preliminary analysis design on configuration schemes under networking conditions of 4-star, 6-star, 8-star, 9-star, 10-star and 12-star respectively.
TABLE 1 parameter Table for different number of platforms
| Number of platforms | Platform height (km) | Minimum height (km) | Visual field (°) | Observation distance (km) |
| 4.00 | 1779.27 | 283.78 | 15.28 | 6972.13 |
| 6.00 | 1083.33 | 228.52 | 18.57 | 4742.33 |
| 8.00 | 913.05 | 206.91 | 24.10 | 3039.97 |
| 9.00 | 802.17 | 199.94 | 28.36 | 2597.89 |
| 10.00 | 692.45 | 180.75 | 32.21 | 2274.74 |
| 12.00 | 633.75 | 155.90 | 38.84 | 1830.47 |
In conclusion, the more the platforms are, the closer the required detection distance is, and the detection of small targets is facilitated; however, as the platform height increases, the requirements for the field of view of the telescope become smaller, which also facilitates load development.
The method for selecting the tangent point scheme comprises the following steps: there are two camera pointing modes to achieve the maximum annulus coverage area; taking two satellites as an example, the included angle between the satellites is α, as shown in fig. 2 and 3. OC is a central axis with an included angle between the two stars and the earth center, and the pointing method of the figure 2 is that the A star observes the airspace in the surrounding range of the B star, and the B star observes the airspace in the surrounding range of the A star; fig. 3 is a pointing method in which star a is responsible for the spatial domain near star a and star B is responsible for the peripheral domain of star B. The benefit of the method of fig. 2 is that the camera field of view is small, which can achieve global coverage, but requires strong detection capability of the camera; the benefit of the method of FIG. 3 is that the single camera detection capability requirement is weak, but the camera field of view requirement is very large; taking 6-star networking as an example, the satellite view field can realize the global coverage only when meeting pi +2 theta, wherein theta is an included angle between a connecting line of a tangent point and the geocentric and a connecting line of the B star and the geocentric. From the satellite scale, the design is simpler as the number of cameras is smaller, and therefore the pointing mode of fig. 2 is adopted by the invention.
As can be seen from fig. 2, there is a partial gap below the view field of the lower edge of the camera, which is shown as S1, S2, S3, and the total area S is S1+ S2+ S3, and the smaller S, the higher the coverage. As can be seen from fig. 1:
wherein
n is the number of satellites, R is the radius of the earth, Rh is the altitude of the earth's adjacent atmosphere, for equation (8), when
And S takes a minimum value, the area is minimum at the moment, and the coverage rate is highest. Therefore, the positions of the tangent points of the lower field of view and the adjacent edge of the earth are determined, and the number of constellations and the orbit height are correspondingly determined.
The invention has at least the following beneficial effects:
(1) the observation coverage rate can be greatly improved by the inventionThe inventors have made the following insights: the inventors have unexpectedly found, through research, that when the tangent point of the lower edge of the satellite observation is selected such that the angle between the line connecting said tangent point and the center of the earth's sphere and the line connecting said satellite and the center of the earth's sphere is equal to
In time, the uncovered blind area between the lower edge of each observation and the earth (or the atmosphere) can be minimized, so that the observation coverage rate is greatly improved;
(2) the invention can also reduce the number of satellite-borne telescopes by selecting the tangent point, because the selection of the tangent point can ensure that the visual field which can be realized by a single telescope of the satellite is larger, and the visual field of each satellite additionally covers the space part which is not covered by the adjacent satellite, thereby ensuring that the larger visual field can be realized by the telescopes with the same number, and reducing the load of the telescopes loaded by the satellite;
(3) the space target constructed by the invention can quickly find the satellite constellation, the coverage efficiency of the low-orbit space target is high, an annulus formed by winding the earth for one circle can be realized, and the complete monitoring of low-orbit space fragments is realized;
(4) the space-based space target constructed by the method can quickly find the satellite constellation, the observation timeliness of the space target is high, the revisit period is high, and each target passes through the observation girdle twice in one orbit period, so that the satellite constellation is observed twice. For example, target fragments may be observed once per hour;
(5) the space-based space fragments constructed by the method can be used for rapidly finding satellite constellations, the adopted load design scheme is simple, and less observation loads can be used for realizing excellent observation efficiency;
(6) the space-based space target constructed by the invention can quickly find the satellite constellation, and can realize uninterrupted work for 24 hours all day without being influenced by atmospheric environment, weather and solar illumination when being deployed on a solar synchronous orbit in the morning and evening.
Although some embodiments of the present invention have been described herein, those skilled in the art will appreciate that they have been presented by way of example only. Numerous variations, substitutions and modifications will occur to those skilled in the art in light of the teachings of the present invention without departing from the scope thereof. It is intended that the following claims define the scope of the invention and that methods and structures within the scope of these claims and their equivalents be covered thereby.
Claims (9)
1. A method for observing a spatial target with high coverage, comprising:
determining the number N of observation satellites for observing the space target;
determining the observation lower edge of each observation satellite, wherein the tangent point of the observation lower edge of each observation satellite is determined so that the angle between the line connecting the tangent point and the center of the earth and the line connecting the observation satellite and the center of the earth is
Determining the orbit height of each observation satellite according to the determined tangent point of the observation satellite;
determining an observation upper edge of each observation satellite; and
the spatial object is observed by each observation satellite in a field of view constituted by said upper and lower observation edges.
2. The method of claim 1, wherein the number N is 4, 6, 8, 9, 10, or 12.
3. The method of claim 1, wherein each observation satellite is equipped with two optical telescopes, wherein the two optical telescopes are oppositely oriented and have the observation upper edge and observation lower edge, respectively.
4. The method of claim 1, wherein observing a spatial target in a field of view comprised of the observed upper edge and the observed lower edge by each observation satellite comprises the steps of:
observing, by a first observation satellite, a spatial target in a first field of view of the first observation satellite; and
the spatial target is observed by a second satellite adjacent to the first observation satellite in a second field of view of the second observation satellite, wherein the first field of view covers a portion of the space not covered by the second field of view and the second field of view covers a portion of the space not covered by the first field of view.
5. The method of claim 1, wherein the N observation satellites are evenly distributed over a circumference of the earth.
6. The method of claim 1, further comprising the steps of:
providing an observation distance of an observation satellite;
determining an observation angle according to the orbital height of the observation satellite and the number of the observation satellites; and
and determining the load of an optical telescope for observing the satellite according to the observation distance and the observation angle.
7. The method of claim 3, wherein the N observation satellites orbit in the same orbital plane and the fields of view of the N observation satellites abut one another to form an observation annulus around the earth.
8. The method of claim 1, wherein the spatial target comprises at least one of: flyers, space debris, meteorites, and asteroids.
9. An observation constellation with high coverage, comprising:
a console configured to perform the following actions:
determining the number N of observation satellites for observing the space target;
determining an observed lower edge for each observation satellite, wherein a tangent point of the observed lower edge for each observation satellite is determined such that the tangent point isThe angle between the line connecting the center of the earth and the line connecting the satellite and the center of the earth is
Determining the orbit height of each observation satellite according to the determined tangent point of the observation satellite; and
determining an observation upper edge of each observation satellite; and
n observation satellites, wherein each observation satellite is configured to perform the following actions:
move to the corresponding track height determined by the console; and
the spatial object is observed in a respective field of view constituted by said observed upper edge and observed lower edge.
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| CN110113091B (en) * | 2019-04-10 | 2021-05-11 | 中国人民解放军63920部队 | Orbit parameter determination method and device for constellation networking |
| CN110017815B (en) * | 2019-04-30 | 2021-08-10 | 北京空间飞行器总体设计部 | Method for constructing space-based space target monitoring photoelectric fence system |
| CN112083445B (en) * | 2019-12-16 | 2024-01-26 | 中国科学院微小卫星创新研究院 | Method for reducing number of observation satellites for observing space target |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112083445A (en) * | 2019-12-16 | 2020-12-15 | 中国科学院微小卫星创新研究院 | Method for reducing number of observation satellites for observing space target |
| CN112083445B (en) * | 2019-12-16 | 2024-01-26 | 中国科学院微小卫星创新研究院 | Method for reducing number of observation satellites for observing space target |
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| CN112083445A (en) | 2020-12-15 |
| CN110954088A (en) | 2020-04-03 |
| CN112083445B (en) | 2024-01-26 |
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