CN112751605A - Method, system and medium for testing capturing and tracking characteristics of double-star dynamic inter-satellite link - Google Patents
Method, system and medium for testing capturing and tracking characteristics of double-star dynamic inter-satellite link Download PDFInfo
- Publication number
- CN112751605A CN112751605A CN202011601862.1A CN202011601862A CN112751605A CN 112751605 A CN112751605 A CN 112751605A CN 202011601862 A CN202011601862 A CN 202011601862A CN 112751605 A CN112751605 A CN 112751605A
- Authority
- CN
- China
- Prior art keywords
- satellite
- antenna
- inter
- star
- rotary table
- 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
Images
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/18521—Systems of inter linked satellites, i.e. inter satellite service
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B17/00—Monitoring; Testing
- H04B17/30—Monitoring; Testing of propagation channels
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B17/00—Monitoring; Testing
- H04B17/30—Monitoring; Testing of propagation channels
- H04B17/391—Modelling the propagation channel
- H04B17/3912—Simulation models, e.g. distribution of spectral power density or received signal strength indicator [RSSI] for a given geographic region
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Electromagnetism (AREA)
- Astronomy & Astrophysics (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Spectroscopy & Molecular Physics (AREA)
- Radio Relay Systems (AREA)
Abstract
The invention provides a method, a system and a medium for testing capturing and tracking characteristics of a double-star dynamic inter-satellite link, comprising a darkroom; a star body, a star body rotating table, a reflecting surface and an antenna are arranged in the darkroom, and a first transponder, a rotating table control console and a second transponder are arranged outside the darkroom; the second transponder is electrically connected with the rotary table console, the rotary table console is electrically connected with the antenna, a signal sent by the antenna is reflected to the inter-satellite antenna on the satellite through the reflecting surface, the satellite is installed on the satellite rotary table, and the satellite rotary table adjusts the pointing angle of the inter-satellite antenna of the satellite according to the signal received by the satellite; the first transponder is in communication connection with the star body; and establishing a mutual time sequence matching relation between the angle in the signal sent by the antenna rotary table and the antenna pointing angle of the antenna through simulation. The method can be used for testing the link characteristics between the double satellites and the inter-satellite and verifying the correctness of the inter-satellite communication scheme.
Description
Technical Field
The invention relates to the field of aerospace communication, in particular to a method, a system and a medium for testing capturing and tracking characteristics of a double-star dynamic inter-satellite link.
Background
In order to obtain the capturing and tracking characteristics of the link between the two stars and verify the correctness of the capturing and tracking scheme of the link between the two stars and the satellite, a test method needs to be designed.
The traditional single-satellite-ground communication link can be subjected to characteristic test and scheme verification through a satellite and ground station butt joint test, but the traditional method is only suitable for single-satellite and static communication and cannot verify link tracking and capturing characteristics under a dynamic beam pointing scene.
The following patents have been retrieved:
1. inter-satellite laser communication terminal high-precision dynamic and static measuring device CN200410024986.2, which does not relate to long-distance dynamic communication and measurement verification method
2. Omnidirectional inter-satellite communication link based on double-satellite flying formation CN201810621919.0, which does not relate to long-distance dynamic communication and measurement verification method
3. Multi-route inter-satellite communication link based on cluster formation CN201810622150.4, which does not relate to long-distance dynamic communication and measurement verification method
At present, no explanation or report of the similar technology of the invention is found, and similar data at home and abroad are not collected.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a method, a system and a medium for testing capturing and tracking characteristics of a double-star dynamic inter-satellite link.
The invention provides a double-star dynamic inter-satellite link capturing and tracking characteristic test system, which comprises a darkroom;
a star body, a star body rotating table, a reflecting surface and an antenna are arranged in the darkroom, and a first transponder, a rotating table control console and a second transponder are arranged outside the darkroom;
the second transponder is electrically connected with the rotary table console, the rotary table console is electrically connected with the antenna, a signal sent by the antenna is reflected to the inter-satellite antenna on the satellite through the reflecting surface, the satellite is installed on the satellite rotary table, and the satellite rotary table adjusts the pointing angle of the inter-satellite antenna of the satellite according to the signal received by the satellite;
the first transponder is in communication connection with the star body;
and establishing a mutual time sequence matching relation between the angle in the signal sent by the antenna rotary table and the antenna pointing angle of the antenna through simulation.
Preferably, a signal attenuator is arranged in the turntable console and simulates dynamic space attenuation of an inter-satellite link.
Preferably, the star turret comprises a six degree of freedom non-stationary turret.
Preferably, the periphery of the equipment outside the darkroom is wrapped with a radio frequency shielding layer.
Preferably, the radio frequency shielding layer comprises copper foil or aluminum foil.
According to the method for testing the capturing and tracking characteristics of the link between the two dynamic satellites, which is provided by the invention, the capturing and tracking characteristics test system of the link between the two dynamic satellites is adopted, and the steps are executed:
step 1: adjusting a rotating shaft of the star rotating table through a rotating table control platform to enable the inter-satellite antenna to point to a track plane to be horizontal;
step 2: after trial rotation of the star rotating table, returning to the initial position, and establishing a comparison relation between time and a rotating table angle of the star rotating table and an on-orbit instantaneous moment corresponding to the initial position;
and step 3: determining a comparison relation between time and the pointing angle of the inter-satellite antenna according to the step 2, and determining a comparison relation between time and space attenuation;
and 4, step 4: establishing a comparison relation between the corner of the rotary table and the space attenuation according to the step 3;
and 5: synchronously setting corresponding attenuation values along with the change of the corner of the rotary table;
and switching the radio frequency channel of the first transponder or the second transponder in real time according to the change of the turntable angle and the relation between the turntable angle and the pointing angle of the antenna.
Preferably, the trial rotation of the star rotating table in the step 2 comprises trial rotation of each rotating shaft for one circle.
According to the present invention, there is provided a computer readable storage medium storing a computer program, which when executed by a processor, implements the steps of the above-mentioned method for testing the capturing and tracking characteristics of a dynamic two-star inter-satellite link.
Compared with the prior art, the invention has the following beneficial effects:
according to the invention, a mutual time sequence matching relation of characteristic parameters such as an antenna pointing angle, a turntable angle, a space attenuation value, Doppler frequency, frequency change rate and the like under a scene is established through simulation; the dynamic change characteristics of the inter-satellite link are simulated through the sequential rotation of the antenna rotary table, and the method can be used for testing the characteristics of the inter-satellite link of the double satellites and verifying the correctness of the inter-satellite communication scheme.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic diagram of a test apparatus layout according to the present invention.
Fig. 2 is a schematic diagram of a test equipment connection method according to the present invention.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
As shown in fig. 1 and fig. 2, the system for testing capturing and tracking characteristics of a two-star dynamic inter-satellite link provided in this embodiment includes a darkroom. The darkroom is internally provided with a star body, a star body rotating platform, a reflecting surface and an antenna, and the darkroom is externally provided with a first transponder, a rotating platform control console and a second transponder.
The second transponder is electrically connected with the rotary table control console, the rotary table control console is connected with the antenna through a high-frequency cable, signals sent by the antenna are reflected to the inter-satellite antenna on the satellite through the reflecting surface, the satellite is installed on the satellite rotary table, the satellite rotary table adjusts the pointing angle of the inter-satellite antenna of the satellite according to the signals received by the satellite, and the first transponder is connected with the satellite through the high-frequency cable. The inter-satellite antenna adopts four pairs of inter-satellite antennas arranged on a real-scale satellite body, and realizes the on-orbit pointing angle of the inter-satellite antenna by means of the angle adjusting function of the six-degree-of-freedom non-fixed antenna test turntable. A signal attenuator is arranged in the rotary table control console, and the real long-baseline inter-satellite link dynamic space attenuation simulation is realized through the real-time matching adjustment of the attenuator. The invention establishes the mutual time sequence matching relation between the angle in the signal sent by the antenna turntable and the antenna pointing angle of the antenna through simulation.
In the invention, the periphery of the equipment outside the darkroom is coated with the radio frequency shielding layer, and the radio frequency shielding layer comprises copper foil or aluminum foil, so that signal leakage and crosstalk can be effectively prevented. The ground detection equipment can realize the setting of Doppler frequency and frequency change rate, and the dynamic setting of Doppler frequency and frequency change rate is realized by calculating and acquiring the comparison relation between the frequency and the turntable angle.
The invention provides a method for testing capturing and tracking characteristics of a dynamic link between two stars, which adopts the system for testing capturing and tracking characteristics of the dynamic link between two stars, establishes a mutual time sequence matching relation of characteristic parameters such as an antenna pointing angle, a space attenuation value, Doppler frequency, frequency change rate and the like in a scene through simulation, and simulates the dynamic change characteristics of the link between stars through the sequential rotation of an antenna turntable, and comprises the following specific steps:
(1) adjusting rotating shafts in three directions to enable the inter-satellite antenna to point to the track plane to be horizontal;
(2) returning to a zero position after the rotary table rotates for one circle, and establishing a comparison relation between time and a rotary table angle and an on-orbit instantaneous moment corresponding to an initial position;
(3) determining a comparison of time and spatial attenuation;
(4) determining a comparison relation between time and an antenna pointing angle;
(5) establishing a comparison relation between the corner of the rotating platform and the space attenuation through the steps (2) and (3);
(6) starting the test, and synchronously setting corresponding attenuation values along with the change of the corner of the rotary table;
(7) and switching the radio frequency channel of the inter-satellite communication equipment in real time according to the change of the angle of the rotary table and the relation between the rotary table and the pointing angle of the inter-satellite antenna.
The above steps are specifically set as shown in the following table.
Table 1 test parameter set comparison table
According to the continuous tracking and capturing state of the radio frequency channel of the inter-satellite communication equipment during one rotation of the rotary table, whether the designed inter-satellite communication scheme is suitable for the double-satellite dynamic inter-satellite link can be determined.
Those skilled in the art will appreciate that, in addition to implementing the system and its various devices, modules, units provided by the present invention as pure computer readable program code, the system and its various devices, modules, units provided by the present invention can be fully implemented by logically programming method steps in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Therefore, the system and various devices, modules and units thereof provided by the invention can be regarded as a hardware component, and the devices, modules and units included in the system for realizing various functions can also be regarded as structures in the hardware component; means, modules, units for performing the various functions may also be regarded as structures within both software modules and hardware components for performing the method.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (8)
1. A double-star dynamic inter-satellite link capturing and tracking characteristic test system is characterized by comprising a darkroom;
a star body, a star body rotating table, a reflecting surface and an antenna are arranged in the darkroom, and a first transponder, a rotating table control console and a second transponder are arranged outside the darkroom;
the second transponder is electrically connected with the rotary table console, the rotary table console is electrically connected with the antenna, a signal sent by the antenna is reflected to the inter-satellite antenna on the satellite through the reflecting surface, the satellite is installed on the satellite rotary table, and the satellite rotary table adjusts the pointing angle of the inter-satellite antenna of the satellite according to the signal received by the satellite;
the first transponder is in communication connection with the star body;
and establishing a mutual time sequence matching relation between the angle in the signal sent by the antenna rotary table and the antenna pointing angle of the antenna through simulation.
2. The system for testing capturing and tracking characteristics of a two-star dynamic inter-satellite link of claim 1, wherein a signal attenuator is arranged in the turntable console to simulate inter-satellite link dynamic spatial attenuation.
3. The dual-star dynamic inter-satellite link acquisition and tracking characteristic testing system according to claim 1, wherein the star turret comprises a six-degree-of-freedom non-stationary turret.
4. The system for testing capturing and tracking characteristics of a two-star dynamic inter-satellite link according to claim 1, wherein a radio frequency shielding layer is wrapped around the periphery of the device outside the darkroom.
5. The dual star dynamic inter-satellite link acquisition and tracking characteristic test system according to claim 4, wherein the radio frequency shielding layer comprises copper foil or aluminum foil.
6. A method for testing capturing and tracking characteristics of a dynamic link between two stars is characterized in that the method for testing capturing and tracking characteristics of the dynamic link between two stars of any one of claims 1 to 5 is adopted, and the steps are executed:
step 1: adjusting a rotating shaft of the star rotating table through a rotating table control platform to enable the inter-satellite antenna to point to a track plane to be horizontal;
step 2: after trial rotation of the star rotating table, returning to the initial position, and establishing a comparison relation between time and a rotating table angle of the star rotating table and an on-orbit instantaneous moment corresponding to the initial position;
and step 3: determining a comparison relation between time and the pointing angle of the inter-satellite antenna according to the step 2, and determining a comparison relation between time and space attenuation;
and 4, step 4: establishing a comparison relation between the corner of the rotary table and the space attenuation according to the step 3;
and 5: synchronously setting corresponding attenuation values along with the change of the corner of the rotary table;
and switching the radio frequency channel of the first transponder or the second transponder in real time according to the change of the turntable angle and the relation between the turntable angle and the pointing angle of the antenna.
7. The method for testing the capturing and tracking characteristics of the links between two dynamic satellites according to claim 6, wherein the trial rotation of the satellite body rotating platform in the step 2 comprises trial rotation of each rotating shaft for one circle.
8. A computer-readable storage medium storing a computer program which, when executed by a processor, performs the steps of the method for dual-star dynamic inter-satellite link acquisition and tracking characterization test of claim 6 or 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011601862.1A CN112751605B (en) | 2020-12-29 | 2020-12-29 | Method, system and medium for testing capturing and tracking characteristics of double-star dynamic inter-satellite link |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011601862.1A CN112751605B (en) | 2020-12-29 | 2020-12-29 | Method, system and medium for testing capturing and tracking characteristics of double-star dynamic inter-satellite link |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112751605A true CN112751605A (en) | 2021-05-04 |
| CN112751605B CN112751605B (en) | 2022-12-27 |
Family
ID=75647142
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011601862.1A Active CN112751605B (en) | 2020-12-29 | 2020-12-29 | Method, system and medium for testing capturing and tracking characteristics of double-star dynamic inter-satellite link |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112751605B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117857413A (en) * | 2024-03-07 | 2024-04-09 | 长光卫星技术股份有限公司 | Inter-satellite link load link establishment pointing closed loop verification system, method, equipment and medium |
Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20000045960A (en) * | 1998-12-30 | 2000-07-25 | 장근호 | Satellite alignment system and method for measuring orientation |
| US6157817A (en) * | 1999-02-04 | 2000-12-05 | Hughes Electronics Corporation | Method for in-orbit multiple receive antenna pattern testing |
| CN101719792A (en) * | 2009-11-27 | 2010-06-02 | 哈尔滨工业大学 | Platform for simulating link satellite photo-communication terminal-to-terminal relative sighting angle movement |
| CN101916915A (en) * | 2010-08-04 | 2010-12-15 | 中国人民解放军第二炮兵工程学院 | Antenna beam tracking device and method of moving communication satellite communication system |
| CN102636790A (en) * | 2012-03-26 | 2012-08-15 | 北京空间飞行器总体设计部 | Absolute time delay calibration system of inter-satellite link antennas of navigational satellites |
| CN102647223A (en) * | 2012-03-26 | 2012-08-22 | 北京空间飞行器总体设计部 | Absolute time delay calibration method for inter-satellite link of navigational satellite |
| CN104333408A (en) * | 2014-09-26 | 2015-02-04 | 航天东方红卫星有限公司 | Inter-satellite communication system used for realizing high-dynamic and low-delay space teleoperation |
| CN106656303A (en) * | 2016-09-30 | 2017-05-10 | 西安电子科技大学 | Satellite borne antenna acquisition and tracking and pointing system-based signal detection method |
| CN206161866U (en) * | 2016-05-18 | 2017-05-10 | 北京自动化控制设备研究所 | Inertia satellite navigation integration anti -interference antenna darkroom |
| CN107181521A (en) * | 2017-05-26 | 2017-09-19 | 清华大学 | Inter-satellite link antenna scanning acquisition equipment and method |
| CN107390038A (en) * | 2017-07-28 | 2017-11-24 | 上海卫星工程研究所 | A kind of whole star antenna radiation characteristics test device of frame structure |
| CN110632623A (en) * | 2019-10-25 | 2019-12-31 | 山东华宇航天空间技术有限公司 | Whole-satellite automatic testing system |
| CN111628806A (en) * | 2020-05-12 | 2020-09-04 | 鹏城实验室 | Antenna beam pointing regulation and control method, device and readable storage medium |
| CN111669218A (en) * | 2020-06-29 | 2020-09-15 | 中国科学院国家授时中心 | Inter-satellite link signal ground verification platform and method |
-
2020
- 2020-12-29 CN CN202011601862.1A patent/CN112751605B/en active Active
Patent Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20000045960A (en) * | 1998-12-30 | 2000-07-25 | 장근호 | Satellite alignment system and method for measuring orientation |
| US6157817A (en) * | 1999-02-04 | 2000-12-05 | Hughes Electronics Corporation | Method for in-orbit multiple receive antenna pattern testing |
| CN101719792A (en) * | 2009-11-27 | 2010-06-02 | 哈尔滨工业大学 | Platform for simulating link satellite photo-communication terminal-to-terminal relative sighting angle movement |
| CN101916915A (en) * | 2010-08-04 | 2010-12-15 | 中国人民解放军第二炮兵工程学院 | Antenna beam tracking device and method of moving communication satellite communication system |
| CN102636790A (en) * | 2012-03-26 | 2012-08-15 | 北京空间飞行器总体设计部 | Absolute time delay calibration system of inter-satellite link antennas of navigational satellites |
| CN102647223A (en) * | 2012-03-26 | 2012-08-22 | 北京空间飞行器总体设计部 | Absolute time delay calibration method for inter-satellite link of navigational satellite |
| CN104333408A (en) * | 2014-09-26 | 2015-02-04 | 航天东方红卫星有限公司 | Inter-satellite communication system used for realizing high-dynamic and low-delay space teleoperation |
| CN206161866U (en) * | 2016-05-18 | 2017-05-10 | 北京自动化控制设备研究所 | Inertia satellite navigation integration anti -interference antenna darkroom |
| CN106656303A (en) * | 2016-09-30 | 2017-05-10 | 西安电子科技大学 | Satellite borne antenna acquisition and tracking and pointing system-based signal detection method |
| CN107181521A (en) * | 2017-05-26 | 2017-09-19 | 清华大学 | Inter-satellite link antenna scanning acquisition equipment and method |
| CN107390038A (en) * | 2017-07-28 | 2017-11-24 | 上海卫星工程研究所 | A kind of whole star antenna radiation characteristics test device of frame structure |
| CN110632623A (en) * | 2019-10-25 | 2019-12-31 | 山东华宇航天空间技术有限公司 | Whole-satellite automatic testing system |
| CN111628806A (en) * | 2020-05-12 | 2020-09-04 | 鹏城实验室 | Antenna beam pointing regulation and control method, device and readable storage medium |
| CN111669218A (en) * | 2020-06-29 | 2020-09-15 | 中国科学院国家授时中心 | Inter-satellite link signal ground verification platform and method |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117857413A (en) * | 2024-03-07 | 2024-04-09 | 长光卫星技术股份有限公司 | Inter-satellite link load link establishment pointing closed loop verification system, method, equipment and medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112751605B (en) | 2022-12-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11611404B2 (en) | Four-dimensional over the air performance test method for dynamic scene channel | |
| US9991592B1 (en) | Test arrangement and test method | |
| CN102866334A (en) | Vehicle-mounted local discharge locating system for mobile substation and locating method thereof | |
| CN105515691A (en) | Ground device and method for verifying dynamical capturing and tracking performance of relay user terminal | |
| CN104980236B (en) | The method of testing of low orbit satellite Ka frequency range data receiving system tracking performances | |
| CN112751605B (en) | Method, system and medium for testing capturing and tracking characteristics of double-star dynamic inter-satellite link | |
| CN102724005A (en) | Ground automatic testing instrument device with satellite relay trace function and testing method thereof | |
| CN110994192B (en) | Satellite-borne long-focus large-aperture antenna whole-satellite layout and expansion design method | |
| CN106125102A (en) | A kind of anti-interference method of testing of satellite navigation multi-beam | |
| CN111817795A (en) | Beidou radio frequency baseband product testing device | |
| CN110456655A (en) | Microwave landing analogue simulation system | |
| CN106533532A (en) | Mobile platform VSAT broadband satellite communication simulation system | |
| CN104459641A (en) | Microwave environment interference signal simulating system | |
| CN111487597B (en) | Universal electronic reconnaissance interception simulation method based on time-space-frequency energy data | |
| CN115079216A (en) | Satellite navigation anti-interference test system | |
| CN111537807A (en) | Method for assisting in testing antenna directional diagram in large-maneuvering flight state by unmanned aerial vehicle | |
| CN115189779A (en) | Low-orbit satellite equipment testing method based on unmanned aerial vehicle and unmanned aerial vehicle | |
| CN107907870B (en) | Signal generation method for verifying intersection butt joint microwave radar angle measurement function | |
| CN112290991B (en) | Relay satellite tracking performance test method and device | |
| CN115765854B (en) | Satellite-borne laser communication load ground constant star calibration test system and test method | |
| CN111624414A (en) | Method for assisting in testing antenna directional diagram in large-maneuvering flight state by unmanned aerial vehicle | |
| CN102752060B (en) | Method for simulating dynamic interference based on microwave unreflected chamber | |
| RU2761588C1 (en) | Method for testing navigation systems of motor vehicles | |
| WO2020200454A1 (en) | A method for computer-implemented simulation of radar raw data | |
| CN106095731B (en) | A kind of satellite health blocks the computational methods that number over the ground passes the antenna time |
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 |