CN113422640B - Beidou third RDSS area long message sending method under high-speed dynamic environment - Google Patents
Beidou third RDSS area long message sending method under high-speed dynamic environment Download PDFInfo
- Publication number
- CN113422640B CN113422640B CN202110975190.9A CN202110975190A CN113422640B CN 113422640 B CN113422640 B CN 113422640B CN 202110975190 A CN202110975190 A CN 202110975190A CN 113422640 B CN113422640 B CN 113422640B
- Authority
- CN
- China
- Prior art keywords
- inbound
- data
- doppler
- beidou
- frequency
- 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.)
- Active
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
- H04B7/1851—Systems using a satellite or space-based relay
- H04B7/18513—Transmission in a satellite or space-based system
-
- 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
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/29—Acquisition or tracking or demodulation of signals transmitted by the system carrier including Doppler, related
-
- 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
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/30—Acquisition or tracking or demodulation of signals transmitted by the system code related
-
- 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
- H04B7/1851—Systems using a satellite or space-based relay
- H04B7/18519—Operations control, administration or maintenance
Abstract
The invention discloses a Beidou third RDSS region long message sending method in a high-speed dynamic environment, which comprises the steps of receiving Beidou third wave beams and obtaining inbound response wave beams; after receiving a message sending instruction, framing data to be sent to obtain data to be sent; observing the obtained inbound response wave beam and converting to obtain inbound Doppler data; processing the inbound Doppler data and transmitting the data; and monitoring and processing the data transmission process in real time and completing the data transmission. The invention carries out Doppler compensation on the carrier wave and the pseudo code at the transmitting starting point, and then carries out real-time compensation in the transmitting process, thereby preventing the inbound signal demodulation failure caused by overlarge dynamic state in the transmitting process, ensuring that the frequency deviation is in an extremely low state in the whole transmitting process, and further improving the inbound success rate; the method is easy to understand, can be quickly realized based on conventional tracking design, can be used for any navigation equipment using the frequency point of the Beidou No. three signal RDSS, and is stable, feasible and high in reliability.
Description
Technical Field
The invention belongs to the field of navigation signal processing, and particularly relates to a method for sending a long message in a Beidou third RDSS (radio determination satellite System) area under a high-speed dynamic environment.
Background
With the development of economic technology and the improvement of living standard of people, the navigation technology is widely applied to the production and the life of people, and brings endless convenience to the production and the life of people. Therefore, the stable, reliable and accurate operation of the navigation system becomes one of the most important tasks of the navigation system.
At present, the Beidou No. three system in China is put into operation formally; the regional short message communication function is a characteristic function of the Beidou satellite navigation system in China and mainly serves China and surrounding areas. The capacity of a short message of a Beidou third system area is 1000 ten thousand times/hour, the transmitting power of a user machine is 1-3W, the length of a single message is 1000 Chinese characters, the construction of a platform is completed at present, and the organic integration of the short message and mobile communication is promoted, so that the dominant position of short message communication is further exerted.
In practical application, the inbound uplink frequency points of the short message communication comprise LF1, LF2 and LF3 frequency points; when the user uses the rate of 1kbps to carry out service segment communication and the rate of 2kbps to carry out data segment communication, more than 7s is needed when transmitting the long text of 1000 Chinese characters. At this time, if the carrier is in a medium-high speed dynamic motion scene, the condition of uplink frequency jitter can occur in the process of sending the message, so that the frequency deviation is overlarge and exceeds the frequency deviation range of the capture and stable tracking of the inbound receiver; in this case, even if the inbound receiver is able to acquire the inbound signal, it may cause information demodulation errors and even loss of lock for dynamic reasons.
Aiming at the problems of regional short message communication in application, the Beidou No. three system has no better solution, so that the application of the regional short message communication function of the Beidou No. three system is severely restricted.
Disclosure of Invention
The invention aims to provide a Beidou third RDSS region long message sending method which is stable, feasible, easy to realize and high in reliability in a high-speed dynamic environment.
The invention provides a method for sending a long message in a Beidou No. three RDSS area under a high-speed dynamic environment, which comprises the following steps:
s1, receiving the Beidou third beam, and acquiring an inbound response beam;
s2, framing the data to be sent after receiving the message sending instruction, thereby obtaining the data to be sent;
s3, extracting the observed quantity of the inbound response wave beam obtained in the step S1, and converting the observed quantity result according to the outbound frequency point and the inbound frequency point so as to obtain inbound Doppler data;
s4, processing the inbound Doppler data obtained by the calculation in the step S3, and transmitting the data;
and S5, carrying out real-time monitoring and processing in the data transmission process, thereby completing the data transmission.
Receiving the beidou three-number beam in the step S1, thereby obtaining an inbound response beam, specifically including the following steps:
acquiring and tracking 21 beams of three currently visible Beidou satellite No. III GEO satellites, and selecting the beam with the largest carrier-to-noise ratio as an inbound response beam from all the beams acquired and tracked; and analyzing the original observed value of the selected inbound response wave beam to obtain the signal time which is used as the time scale of message transmission.
The raw observations include a frame count and a chip count.
Step S2, when the message sending instruction is received, framing the data to be sent to obtain the data to be sent, which specifically includes the following steps:
after receiving a message sending instruction, framing and packaging data to be sent, generating a synchronization head and a service segment, obtaining data to be sent, and setting a response framing number for sending; meanwhile, when the current subframe number to be transmitted is consistent with the set response subframe number, data is ready to be transmitted.
Step S3, extracting the observed quantity of the inbound response beam obtained in step S1, and converting the observed quantity result according to the outbound frequency point and the inbound frequency point, so as to obtain inbound doppler data, specifically including the following steps:
observing the inbound response beam obtained in step S1, and extracting the observed quantity to obtain doppler information of the inbound response beamf d (ii) a Then according to the Doppler frequency shift formula
，vIs the speed of movement of the carrier and,cin order to be the speed of light,f OUT in order to obtain the signal frequency of the outbound frequency point,
the included angle from the motion direction to the signal direction can be known, the Doppler frequency shift value is in direct proportion to the signal frequency, and then the signal frequency is obtained according to the outbound frequency pointf OUT And inbound frequency signal frequencyf IN Calculating inbound carrier Dopplerf d1 Is composed of
Whereinf d Doppler for inbound response beams; then, the inbound pseudo code Doppler is obtained by conversionf d2 Is composed of
Wherein isf CODE Code rate of the inbound pseudo code.
The step S4 of processing the inbound doppler data calculated in the step S3 and transmitting the data includes the following steps:
doppler the inbound carrier wave obtained in step S3f d1 To the nominal value of the carrier frequencyf CARRY Superposing the inbound pseudo code Doppler obtained in step S3f d2 And pseudo code frequency nominal valuef CODE And superposing, so that the actual frequency values are respectively converted into frequency control words required by transmission, and data transmission is started.
The step S5 of performing real-time monitoring and processing in the data transmission process to complete data transmission specifically includes the following steps:
after the transmission is started, every set timeNThe emission completion flag is detected:
if the transmission is finished, the transmission of the long message in the Beidou third RDSS area under the high-speed dynamic environment is finished;
if the transmission is not finished, repeating the steps S3-S5 until the long message in the Beidou third RDSS area under the high-speed dynamic environment is sent.
According to the Beidou third RDSS regional long message sending method under the high-speed dynamic environment, Doppler compensation is carried out on carrier waves and pseudo codes at the transmitting starting point, and real-time compensation is carried out in the transmitting process, so that inbound signal demodulation failure caused by overlarge dynamic in the transmitting process is prevented, the frequency deviation in the whole transmitting process is ensured to be in an extremely low state, and the inbound success rate is improved; the method is easy to understand, can be quickly realized based on conventional tracking design, can be used for any navigation equipment using the frequency point of the Beidou No. three signal RDSS, is stable and feasible, is easy to realize and has high reliability.
Drawings
FIG. 1 is a schematic process flow diagram of the process of the present invention.
Detailed Description
FIG. 1 is a schematic flow chart of the method of the present invention: the invention provides a method for sending a long message in a Beidou No. three RDSS area under a high-speed dynamic environment, which comprises the following steps:
s1, receiving the Beidou third beam, and acquiring an inbound response beam; the method specifically comprises the following steps:
acquiring and tracking 21 beams of three currently visible Beidou satellite No. III GEO satellites, and selecting the beam with the largest carrier-to-noise ratio as an inbound response beam from all the beams acquired and tracked; simultaneously analyzing the original observed value of the selected inbound response wave beam to obtain signal time which is used as a time scale for message sending;
in specific implementation, both the capture engine and the tracking engine can be realized by adopting the prior art;
s2, framing the data to be sent after receiving the message sending instruction, thereby obtaining the data to be sent; the method specifically comprises the following steps:
after receiving a message sending instruction, framing and packaging data to be sent, generating a synchronization head and a service segment, obtaining data to be sent, and setting a response framing number for sending; meanwhile, when the current subframe number to be transmitted is consistent with the set transmitted response subframe number, data is prepared to be transmitted;
s3, extracting the observed quantity of the inbound response wave beam obtained in the step S1, and converting the observed quantity result according to the outbound frequency point and the inbound frequency point so as to obtain inbound Doppler data; the method specifically comprises the following steps:
observing the inbound response beam obtained in step S1, and extracting the observed quantity to obtain doppler information of the inbound response beamf d (ii) a Then according to the Doppler frequency shift formula
，vIs the speed of movement of the carrier and,cin order to be the speed of light,f OUT in order to obtain the signal frequency of the outbound frequency point,
the included angle from the motion direction to the signal direction can be known, the Doppler frequency shift value is in direct proportion to the signal frequency, and then the signal frequency is obtained according to the outbound frequency pointf OUT And inbound frequency signal frequencyf IN Calculating inbound carrier Dopplerf d1 Is composed of
Whereinf d Doppler for inbound response beams; then, the inbound pseudo code Doppler is obtained by conversionf d2 Is composed of
Wherein isf CODE Code rate of inbound pseudo-code；
For example, when the outbound frequency point is 2491.75MHz, taking the inbound LF1 frequency point as an example, and the LF1 frequency point is 1614.26MHz, the converted inbound carrier doppler is
(ii) a Depending on the carrier and pseudocode rates, the pseudocode doppler may also need to be scaled, and the scaled inbound pseudocode doppler may be
；
S4, processing the inbound Doppler data obtained by the calculation in the step S3, and transmitting the data; the method specifically comprises the following steps:
doppler the inbound carrier wave obtained in step S3f d1 To the nominal value of the carrier frequencyf CARRY Superposing the inbound pseudo code Doppler obtained in step S3f d2 And pseudo code frequency nominal valuef CODE Superposing to convert the actual frequency values into frequency control words required by transmission, and starting data transmission
Doppler the inbound carrier wave obtained in step S3f d1 To the nominal value of the carrier frequencyf CARRY Superposing the inbound pseudo code Doppler obtained in step S3f d2 And pseudo code frequency nominal valuef CODE By superposition, i.e.f CARRY + f d1 Andf CODE +f d2 so as to respectively convert the actual frequency values into frequency control words required by transmission and start to transmit data;
s5, real-time monitoring and processing are carried out in the data transmitting process, so that the data transmission is completed; the method specifically comprises the following steps:
after the transmission is started, every set timeNThe emission completion flag is detected:
if the transmission is finished, the transmission of the long message in the Beidou third RDSS area under the high-speed dynamic environment is finished;
if the transmission is not finished, repeating the steps S3-S5 until the long message in the Beidou third RDSS area under the high-speed dynamic environment is sent.
In practice, the set timeNAs configurable variables: when the device is in a high dynamic state,Ncan be set between 10ms and 100 ms; when the dynamic state is in the medium-low dynamic state,Ncan be set between 100ms and 2000 ms; when in the quasi-static or static state,Ncan be set to 0, i.e. indicates a compensation only once; when the compensation is carried out only once, the method degenerates into a mode of configuring Doppler compensation only during transmission and not compensating during the transmission process.
The process of the invention is further illustrated below with reference to a specific example:
the design is a medium dynamic message communication inbound, the dynamic scene speed is 1200m/s, and the acceleration is 35 g;
the acquisition engine acquires the wave beam, after the wave beam is tracked, the wave beam with the highest carrier-to-noise ratio is selected as the inbound response wave beam in the channel, the frequency of latch extraction of the observed quantity is 10ms, the minimum granularity of the observed quantity is extracted, and the observed quantity used for inbound compensation is guaranteed to obtain the maximum updated frequency
According to the method, carrier Doppler and pseudo code Doppler are obtained after Doppler conversion, the carrier Doppler is configured to a radio frequency chip for carrier modulation after overlapping a carrier nominal value, and the pseudo code Doppler is configured to a transmitting module for modulation with a message after overlapping a pseudo code nominal value; when the framing number of the transmitting module runs to a response frame, modulating and transmitting the baseband signal and the carrier;
according to the method of the invention, the compensation interval can be adjusted according to the dynamic size, in the test of the signal simulation source, when the dynamic of the outbound wave beam is a middle dynamic scene (speed 1200m/s, acceleration 35 g), if the inbound compensation is not carried out at this time, two situations occur in the source test: 1. inbound acquisition fails, 2. inbound acquisition succeeds, data demodulation fails. If the interval of the real-time compensation is set to 0, namely the compensation is performed only once during transmission, the phenomena of successful inbound acquisition and failed data demodulation occur, and if the interval of the real-time compensation is set to 80ms, the inbound demodulation is successful.
From the application of the example, the method disclosed by the invention has a good effect when the Beidou No. three RDSS carries out long-message communication in the vehicle-mounted, airborne and missile-mounted scenes with large dynamic scenes and the like.
Claims (4)
1. A big Dipper three RDSS area long message sending method under a high-speed dynamic environment is characterized by comprising the following steps:
s1, receiving the Beidou third beam, and acquiring an inbound response beam;
s2, framing the data to be sent after receiving the message sending instruction, thereby obtaining the data to be sent;
s3, extracting the observed quantity of the inbound response wave beam obtained in the step S1, and converting the observed quantity result according to the outbound frequency point and the inbound frequency point so as to obtain inbound Doppler data; the method specifically comprises the following steps:
observing the inbound response beam obtained in step S1, and extracting the observed quantity to obtain doppler information of the inbound response beamf d (ii) a Then according to the Doppler frequency shift formula
Frequency of outbound frequency point signalf OUT And inbound frequency signal frequencyf IN Calculating inbound carrier Dopplerf d1 Is composed of
Whereinf d In order to account for the doppler of the inbound response beam,vis the speed of movement of the carrier and,cin order to be the speed of light,f OUT in order to obtain the signal frequency of the outbound frequency point,
is the included angle from the motion direction to the signal direction; then, the inbound pseudo code Doppler is obtained by conversionf d2 Is composed of
Wherein isf CODE Code rate of the inbound pseudo code;
s4, processing the inbound Doppler data obtained by the calculation in the step S3, and transmitting the data; the method specifically comprises the following steps:
doppler the inbound carrier wave obtained in step S3f d1 To the nominal value of the carrier frequencyf CARRY Superposing the inbound pseudo code Doppler obtained in step S3f d2 And pseudo code frequency nominal valuef CODE Superposing, so as to respectively convert the actual frequency values into frequency control words required by transmission, and starting to transmit data;
s5, real-time monitoring and processing are carried out in the data transmitting process, so that the data transmission is completed; the method specifically comprises the following steps:
after the transmission is started, every set timeNThe emission completion flag is detected:
if the transmission is finished, the transmission of the long message in the Beidou third RDSS area under the high-speed dynamic environment is finished;
if the transmission is not finished, repeating the steps S3-S5 until the long message in the Beidou third RDSS area under the high-speed dynamic environment is sent.
2. The method for transmitting the Beidou third RDSS area long messages under the high-speed dynamic environment according to claim 1, wherein the step S1 of receiving the Beidou third beam to obtain the inbound response beam specifically comprises the following steps:
acquiring and tracking 21 beams of three currently visible Beidou satellite No. III GEO satellites, and selecting the beam with the largest carrier-to-noise ratio as an inbound response beam from all the beams acquired and tracked; and analyzing the original observed value of the selected inbound response wave beam to obtain the signal time which is used as the time scale of message transmission.
3. The method as claimed in claim 2, wherein the raw observation values include a frame count and a chip count.
4. The method for sending the long message in the RDSS area of beidou No. three under the high-speed dynamic environment according to claim 3, wherein after receiving the message sending instruction in step S2, framing the data to be sent to obtain the data to be sent, specifically comprising the following steps:
after receiving a message sending instruction, framing and packaging data to be sent, generating a synchronization head and a service segment, obtaining data to be sent, and setting a response framing number for sending; meanwhile, when the current subframe number to be transmitted is consistent with the set response subframe number, data is ready to be transmitted.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110975190.9A CN113422640B (en) | 2021-08-24 | 2021-08-24 | Beidou third RDSS area long message sending method under high-speed dynamic environment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110975190.9A CN113422640B (en) | 2021-08-24 | 2021-08-24 | Beidou third RDSS area long message sending method under high-speed dynamic environment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113422640A CN113422640A (en) | 2021-09-21 |
| CN113422640B true CN113422640B (en) | 2021-11-19 |
Family
ID=77719262
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110975190.9A Active CN113422640B (en) | 2021-08-24 | 2021-08-24 | Beidou third RDSS area long message sending method under high-speed dynamic environment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113422640B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115051745B (en) * | 2022-05-09 | 2024-01-26 | 中国电子科技集团公司第二十九研究所 | Beidou short message inbound signal dynamic compensation method and device for high-speed spacecraft |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112769468A (en) * | 2021-01-21 | 2021-05-07 | 西安星通通信科技有限公司 | Pre-compensation method for offset frequency of low-earth-orbit satellite mobile terminal |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6008758A (en) * | 1998-05-26 | 1999-12-28 | Rockwell International Corporation | Method and apparatus for Doppler compensation in a satellite communications system |
| CN104252000B (en) * | 2013-06-28 | 2016-05-04 | 成都国星通信有限公司 | The quick compensating circuit of a kind of Doppler based on DDS and method |
| CN207460175U (en) * | 2017-11-08 | 2018-06-05 | 南京天际易达通信技术有限公司 | A kind of satellite communication Doppler shift compensation device and satellite communication system |
| CN209545592U (en) * | 2018-07-26 | 2019-10-25 | 陕西凌云科技有限责任公司 | Short message check-in signal Doppler frequency compensation control system under high dynamic |
| US10992398B1 (en) * | 2020-04-10 | 2021-04-27 | Totum Labs, Inc. | System and method for doppler compensation using a second derivative |
| CN112436880B (en) * | 2020-10-16 | 2021-11-12 | 北京邮电大学 | Doppler power spectrum modeling method and device under multi-communication scene |
-
2021
- 2021-08-24 CN CN202110975190.9A patent/CN113422640B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112769468A (en) * | 2021-01-21 | 2021-05-07 | 西安星通通信科技有限公司 | Pre-compensation method for offset frequency of low-earth-orbit satellite mobile terminal |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113422640A (en) | 2021-09-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113422642B (en) | Beidou third-number global short message sending method under high-speed dynamic environment | |
| JP3294202B2 (en) | Satellite positioning assistance system | |
| US5153598A (en) | Global Positioning System telecommand link | |
| US9826431B2 (en) | Weighted random selection of transmission resources based on device position | |
| CN113422640B (en) | Beidou third RDSS area long message sending method under high-speed dynamic environment | |
| JP2003043130A (en) | Wireless terminal and method for operating the same | |
| CN209545592U (en) | Short message check-in signal Doppler frequency compensation control system under high dynamic | |
| CN112968746A (en) | Satellite-ground communication synchronous capturing method and device based on position and Doppler information | |
| CN106059653B (en) | Aircraft signal transmission system and signal transmission method thereof | |
| CN110632620A (en) | Satellite-borne forwarding type deception jamming system capable of simultaneously supporting GPS civil code and military code | |
| CN114302332A (en) | Positioning system and method based on narrow-band data broadcasting of Beidou third and all-terrain satellites | |
| EP3552191A1 (en) | Apparatus, method and computer program improving emergency communication | |
| CN105425262B (en) | It is a kind of to realize the method that satellite forwards navigation system carrier phase accurate measurement | |
| CN113747366B (en) | Method for reporting data by terminal in Beidou satellite navigation system | |
| KR101765206B1 (en) | Apparatus and method for providing location information and additional information using pseudolite navigation system | |
| WO2023185893A1 (en) | Satellite signal capturing method and related apparatus | |
| WO2023103830A1 (en) | Satellite short message multicast method and related apparatus | |
| Quanguo et al. | Explore on Application of BDS-3 RSMC in the Field of Image Transmission | |
| CN114598381A (en) | Inter-satellite link high-speed transceiver suitable for low-earth orbit satellite | |
| CN109991838B (en) | Beidou short message based master control time service device, system and method | |
| CN108363080B (en) | Method for capturing and starting military code of airborne differential Beidou equipment of unmanned aerial vehicle | |
| CN114137578A (en) | Method and system for processing global navigation satellite system signals | |
| CN111800206B (en) | Method capable of dynamically adjusting communication frequency of navigation sonde | |
| CN219347694U (en) | Bidirectional time synchronization system under dynamic scene | |
| CN111800164B (en) | UWB decoding method, device, receiver and UWB positioning system |
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 |