CN114967749A - Maneuvering trajectory design method for low-cost altimeter - Google Patents

Maneuvering trajectory design method for low-cost altimeter Download PDF

Info

Publication number
CN114967749A
CN114967749A CN202210672684.4A CN202210672684A CN114967749A CN 114967749 A CN114967749 A CN 114967749A CN 202210672684 A CN202210672684 A CN 202210672684A CN 114967749 A CN114967749 A CN 114967749A
Authority
CN
China
Prior art keywords
height profile
design
altimeter
module
height
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202210672684.4A
Other languages
Chinese (zh)
Other versions
CN114967749B (en
Inventor
王珣子
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Zhongke Feihong Technology Co ltd
Original Assignee
Beijing Zhongke Feihong Technology Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beijing Zhongke Feihong Technology Co ltd filed Critical Beijing Zhongke Feihong Technology Co ltd
Priority to CN202210672684.4A priority Critical patent/CN114967749B/en
Publication of CN114967749A publication Critical patent/CN114967749A/en
Application granted granted Critical
Publication of CN114967749B publication Critical patent/CN114967749B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
    • G06F17/10—Complex mathematical operations
    • G06F17/11—Complex mathematical operations for solving equations, e.g. nonlinear equations, general mathematical optimization problems
    • G06F17/12—Simultaneous equations, e.g. systems of linear equations
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
    • G06F17/10—Complex mathematical operations
    • G06F17/16—Matrix or vector computation, e.g. matrix-matrix or matrix-vector multiplication, matrix factorization
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Pure & Applied Mathematics (AREA)
  • Computational Mathematics (AREA)
  • Mathematical Analysis (AREA)
  • Mathematical Optimization (AREA)
  • Theoretical Computer Science (AREA)
  • Data Mining & Analysis (AREA)
  • Software Systems (AREA)
  • Algebra (AREA)
  • Databases & Information Systems (AREA)
  • General Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Operations Research (AREA)
  • Automation & Control Theory (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Computing Systems (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention discloses an optimal maneuvering trajectory design method for a low-cost altimeter, which mainly comprises a height profile design module, a height profile calculation module and a height profile application module. The height profile design module is connected with the height profile calculation module and used for constructing a functional relation about height-residual voyage and extracting key design variables. The height profile calculation module is connected with the height profile design module, the height profile application module and the low-cost air pressure type altimeter and used for obtaining polynomial coefficients related to the height profile by solving an equation set according to given initial conditions, terminal conditions and design parameters so as to determine the final form of the height profile. And the height profile application module is connected with the height profile calculation module and is used for generating real-time normal overload according to the current motion state and the height profile design result. Different from the conventional thought of 'ballistic design-altitude measurement-ballistic correction', the method can provide altitude direction speed, acceleration, jerk and higher derivative information for the altimeter, compensate altitude measurement equipment from a ballistic planning layer, and realize the optimal balance between the control precision of the aircraft and the production and use cost.

Description

Maneuvering trajectory design method for low-cost altimeter
Technical Field
The invention belongs to the field of overall design of aircrafts, and relates to an online trajectory planning method suitable for a low-cost air pressure type altimeter.
Background
The invention solves the key contradiction problem between high control precision and low cost of the aircraft by taking low-cost multi-airspace combat missile weapons as background and aiming at the characteristics of large flight airspace, fast altitude change, high response speed and the like.
For high-altitude large-span flight, real-time altitude measurement is usually realized by adopting an air pressure type altimeter, and corresponding measurement information is used as feedback of a trajectory control system, so that online guidance and mission planning are realized. The pneumatic altimeter can give the flying height of the aircraft in real time according to the atmospheric environment, is the most direct and effective means for online height measurement on the missile, is extremely important for ballistic, guidance, navigation and control systems of the aircraft, and has wide application in the fields of aerospace, war industry, civil use and the like. The pneumatic altimeter can adapt to larger flight airspace and altitude change rate, but the inherent defect of the pneumatic altimeter in measurement precision needs to be compensated by technical means.
At present, the precision compensation schemes for the low-cost air pressure type altimeter mainly comprise the following steps:
the first scheme comprises the following steps: the method is compensated by means of high-precision measuring instruments, high-precision inertial measurement units, GPS/Beidou navigator and the like. The above compensation means are generally not desirable for low cost aircraft.
Scheme II: the altitude-air pressure nonlinear solver is used, but is influenced by an unsteady and nonlinear relation between the altitude and the atmospheric environment, so that the high-precision control requirement of the aircraft cannot be met.
The existing ballistic control method based on the low-cost air pressure type altimeter has the following defects:
the first disadvantage is that: the height information measurement accuracy and the real-time property are poor. The low-cost air pressure type altimeter is slightly insufficient in the atmospheric environment measurement sensing precision, cannot adapt to the rapid and large-scale change of the aircraft in height, and cannot provide accurate information input for a high-speed flight trajectory mode of strong maneuvering.
The second disadvantage is that: the cost of improving the accuracy of the height measurement information is high. The inherent deficiency of the low-cost altimeter in the measurement precision is usually made up by means of high-precision measuring instruments, high-precision inertial measurement units, GPS/Beidou navigator and other equipment; these compensation means would significantly increase the manufacturing and usage costs of the height measuring system, and would not be economically desirable.
The third disadvantage is that: the altitude-atmosphere functional relationship has poor adaptability. The sea pressure correction method is a common air pressure type altimeter compensation correction method at present, and the function fitting method is a common means for realizing rapid altitude calculation and correcting measurement data according to an air pressure sensor. However, the relationship between altitude and air pressure is not constant, and cannot be determined analytically, or cannot be expressed comprehensively by using a general fitting method, especially when the aircraft flies at high speed and the altitude changes dramatically.
The defect four is as follows: too strong design constraints affect ballistic design flexibility. In order to use a low-cost air pressure type altimeter, a large number of constraint conditions such as an altitude interval, an altitude change rate, an altitude direction acceleration and the like are generally required to be applied in the design process of a missile weapon system; these constraints greatly limit the feasible domain of ballistic design and do not meet the requirements of highly dynamic combat modes on ballistic guidance systems.
The traditional altimeter precision compensation mode has the problems of high cost, complex structure, increased total weight, weak immunity and the like, and is difficult to meet the low-cost battle use mode. The invention provides an online trajectory planning method suitable for a low-cost altimeter. Different from the conventional thought of 'ballistic design-altitude measurement-ballistic correction', the method can provide information of speed, acceleration, jerk and higher derivative in the altitude direction for the pneumatic altimeter, compensates altitude measurement equipment from a ballistic planning layer, and can realize the optimal balance between the control precision of the aircraft and the production and use cost.
Disclosure of Invention
The invention aims to provide an online trajectory planning method suitable for a low-cost altimeter, which has better anti-interference effect, applicability and efficiency and does not need to rely on an additional high-cost measuring device.
The purpose of the invention is realized by the following technical scheme:
(1) design altitude-remaining flight profile
The fly height is designed as a function of the remaining range:
Figure 969341DEST_PATH_IMAGE001
wherein the content of the first and second substances,nis of the order of a polynomial equation,a i in order to obtain the coefficients to be calculated,Kis a correction factor. The invention is to getn=5。
(2) Generating altimeter feedback information
And calculating the speed, the acceleration, the jerk and the high-order derivative in the height direction according to the formula.
(3) Generating flight control information
And calculating the first/second derivative of the altitude to the residual range according to the aircraft dynamics equation, and then solving the control overload.
(4) Ballistic iteration method considering terminal constraint and altimeter use constraint
Is provided withF(R L ) Determining flight profile solving function for a fifth order polynomialF(R L ) And thus there are 6 unknowns to solve for. These unknowns are solved by constructing 6 equations.
1) Two boundary condition equations can be obtained according to the current height and the terminal height.
2) According to the current flight path angle and the terminal flight path angle, two boundary condition equations can be obtained.
3) Let us assume the remaining voyages 1/3 and 2/3 (respectively noted as
Figure DEST_PATH_IMAGE002
And
Figure 542274DEST_PATH_IMAGE003
) Respectively height value ofh 1 Andh 2 then, there are:
Figure DEST_PATH_IMAGE004
the six equations form an equation set, givenh 1 Andh 2 thereafter, a polynomial can be obtained by solving the system of equationsF(R L ) Coefficient (2) of (1). The design variables are defined as:
Figure 712224DEST_PATH_IMAGE005
(5) height profile on-line correction method
Calculating normal overload according to the real-time motion state and the section design result of the aircraft, and carrying out recursion to the next motion state after the aircraft is brought into a trajectory control system; and cruising the steps until the residual range is zero.
According to the technical scheme, the invention can provide the speed, the acceleration, the jerk and higher derivative information in the height direction for the air pressure type altimeter, the altitude measurement equipment is compensated from the ballistic planning layer, and the optimal balance between the control precision of the aircraft and the production and use cost can be realized; with only two parameters involved: (h 1 , h 2 ) The ballistic trajectory design can be completed by only solving one equation set, the overall calculation amount is low, the online ballistic trajectory reconstruction based on the height measurement information is facilitated, and the method is superior to the traditional scheme in the aspects of information source and efficiency.
Drawings
In order to clearly illustrate the technical solution of the present invention, the following description will be made with reference to the accompanying drawings. For a person skilled in the art, without inventive effort, further figures can also be obtained from these figures.
Fig. 1 is a schematic diagram of a feedback control strategy based on an altitude-remaining flight profile according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of a design result of flight profiles with different altitudes and remaining flight according to an embodiment of the present invention.
Fig. 3 is a diagram illustrating a result of designing a height variation rate curve according to an embodiment of the present invention.
Fig. 4 is a diagram illustrating a design result of a height direction acceleration curve according to an embodiment of the present invention.
Fig. 5 is a schematic diagram of a design result of a normal overload control curve according to an embodiment of the present invention.
Fig. 6 is a diagram illustrating the design result of the ballistic inclination angle change rate curve according to the embodiment of the present invention.
Fig. 2 to 6 employ the same initial conditions and terminal conditions, but different profile design parameters. For those skilled in the art, the initial conditions, the final conditions and the profile design parameters (in the formula) can be changed without creative efforth 1 Andh 2 ) Other figures may also be obtained.
Detailed Description
The technical scheme of the invention is described in detail below with reference to the accompanying drawings in the technology of the invention; the described embodiments are not all embodiments of the invention. Based on the embodiments of the present invention, those skilled in the art can obtain other embodiments without creative efforts, which belong to the protection scope of the present invention.
The embodiment of the invention provides a maneuvering trajectory design method for a low-cost altimeter, which can provide altitude direction speed, acceleration, jerk and higher derivative information for the low-cost altimeter, compensate altitude measurement equipment from a trajectory planning layer, and realize optimal balance between aircraft control precision and production and use cost. The method mainly comprises the following steps: the device comprises a height profile design module, a height profile calculation module and a height profile application module; wherein:
(1) the height profile design module is connected with the height profile calculation module and used for constructing a functional relation about height-residual voyage and extracting key design variables;
if the aircraft moves at a constant speed, the kinetic equation is as follows:
Figure DEST_PATH_IMAGE006
wherein the content of the first and second substances,Vin order to be the magnitude of the speed,γin order to obtain the inclination angle of the trajectory,hin order to be the flying height,N y in order to normally control the overload,a e which is the radius of the earth, is,gthe acceleration of the gravity of the earth is the magnitude,R L the remaining voyage (the voyage from the current point to the target point).
The flying height is designed as a function of the remaining range, see formula.
(2) The height profile calculation module is connected with the height profile design module, the height profile application module and the low-cost air pressure type altimeter and used for obtaining polynomial coefficients related to the height profile by solving an equation set according to given initial conditions, terminal conditions and design parameters so as to determine the final form of the height profile;
determining flight profile solving functionF(R L ) Coefficient (2) of (1). Due to the fact thatF(R L ) For a polynomial of the fifth order, there are 6 unknowns to solve for, and 6 equations need to be constructed.
1) From the current altitude and the terminal altitude, two equations can be derived:
Figure 638592DEST_PATH_IMAGE007
2) according to the current flight path angle and the terminal flight path angle, two equations can be obtained:
Figure DEST_PATH_IMAGE008
3) the expansion can be given as:
Figure 846107DEST_PATH_IMAGE009
definition of
Figure DEST_PATH_IMAGE010
Then there is
Figure 199728DEST_PATH_IMAGE011
Wherein:
Figure DEST_PATH_IMAGE012
Figure 122553DEST_PATH_IMAGE013
in summary, only two parameters need to be given for determining the flight profile, i.e. in the formulah 1 Andh 2 。
(3) and the height profile application module is connected with the height profile calculation module and is used for generating real-time normal overload according to the current motion state and the height profile design result.
According to the aircraft dynamics equation, the first and second derivatives of altitude versus remaining range can be expressed as:
Figure DEST_PATH_IMAGE014
according to the kinetic equation, the following can be obtained:
Figure 711667DEST_PATH_IMAGE015
the overload can thus be controlled as:
Figure DEST_PATH_IMAGE016
as shown in fig. 1, the entire height profile update process is detailed as follows:
1) normal overload is calculated according to the formula and is brought into a trajectory control system;
2) according to a kinetic equation, recursion is carried out to obtain the flight state at the next moment;
3) re-determining the coefficient according to the formula and the terminal constraint according to the real-time motion state;
4) and (5) returning to the step 1 until the residual voyage is zero.
According to the scheme, the obtained partial embodiment is shown in figures 2-6.
Figure 2 showsDesign height profile with residual flight as independent variable under different design parameters (h 1 , h 2 ) The altitude of the aircraft varies with the remaining range. It can be seen that the ballistic design results meet the initial height (15km) and the terminal height (10km) and meet the range constraint (177.4km) under different design parameters.
FIG. 3 shows the design height profile with the remaining range as the independent variable, under different design parameters (h 1 , h 2 ) The history of the altitude rate of change of the aircraft with the remaining voyage. It can be seen that the rate of change of altitude of the aircraft is continuous and very smooth, with the rate of change also being continuous and smooth, at different design parameters, which is advantageous for both the measurement and the calculation of low cost altimeters.
FIG. 4 shows the design height profile with the remaining range as the independent variable, under different design parameters (A and B)h 1 , h 2 ) The second derivative of the change in altitude over time (altitude-direction acceleration) of the aircraft follows the course of the remaining voyage. It can be seen that under different design parameters, the acceleration of the aircraft in the height direction is continuous and very smooth, and the change rate of the acceleration is also continuous and smooth, which is very beneficial to the measurement and calculation of the low-cost altimeter, and meanwhile, the height profile design method provided by the invention can provide high-order derivatives in the height direction, and can provide more reliable height information for a height measurement system.
FIG. 5 shows the design height profile with the remaining range as the independent variable, under different design parameters (A and B)h 1 , h 2 ) The normal control overload of the aircraft follows the course of the remaining voyage. It can be seen that the control overload of the aircraft is continuous and very smooth under different design parameters, and the change rate of the control overload is continuous and smooth, which is beneficial to the flight control of the control system, and simultaneously, the intensity of the overload change is reduced, so that the interference of the external load on the height measuring device is reduced.
FIG. 6 shows the design height with the remaining range as the independent variableSection, under different design parameters: (h 1 , h 2 ) The change course of the trajectory inclination angle of the aircraft along with the remaining voyage. It can be seen that under different design parameters, the ballistic design results all satisfy the initial height (0 °) and the terminal height (-10 °), and satisfy the course constraint (177.4 km); at the same time, the trajectory inclination of the aircraft is continuous and very smooth, and the change rate is also continuous and smooth, which is also reflected in the normal overload.
The invention has the following advantages:
(1) according to the current remaining range, high-order derivative information such as speed, acceleration and jerk in the altitude direction can be rapidly output and used for compensating the defects of the low-cost altimeter in the measurement information;
(2) the height profile meeting the use constraint of the low-precision altimeter is generated on line, the overall height change trend is smooth, and the high-order derivative of the height meets the continuity and the conductibility;
(3) and online trajectory correction on the height channel is realized, and trajectory reconstruction can be completed only through two design variables.
The above description is only one of the embodiments of the present invention, and the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive the changes or substitutions within the technical scope of the present invention, and the scope of the present invention should be subject to the protection scope of the claims.

Claims (2)

1. Maneuvering trajectory design method for low-cost altimeter
The method is characterized in that altitude direction speed, acceleration, jerk and higher derivative information can be provided for a low-cost altimeter, altitude measurement equipment is compensated from a trajectory planning layer, and the optimal balance between the control precision of the aircraft and the production and use cost can be realized;
the method mainly comprises the following steps: the device comprises a height profile design module, a height profile calculation module and a height profile application module;
wherein:
1) the height profile design module is connected with the height profile calculation module and used for constructing a function relation about height-residual voyage and extracting key design variables;
2) the height profile calculation module is connected with the height profile design module, the height profile application module and the low-cost air pressure type altimeter and used for obtaining polynomial coefficients related to the height profile by solving an equation system according to given initial conditions, terminal conditions and design parameters so as to determine the final form of the height profile;
3) and the height profile application module is connected with the height profile calculation module and is used for generating real-time normal overload according to the current motion state and the height profile design result.
2. Ballistic iteration method considering use requirements of low-cost altimeter
The invention can provide the altimeter with the information of speed, acceleration, jerk and higher derivative in the altitude direction, compensate the altitude measurement equipment from the ballistic programming layer, and realize the optimal balance between the control precision of the aircraft and the production and use cost.
CN202210672684.4A 2022-06-14 2022-06-14 Maneuvering trajectory design method for low-cost altimeter Active CN114967749B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210672684.4A CN114967749B (en) 2022-06-14 2022-06-14 Maneuvering trajectory design method for low-cost altimeter

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210672684.4A CN114967749B (en) 2022-06-14 2022-06-14 Maneuvering trajectory design method for low-cost altimeter

Publications (2)

Publication Number Publication Date
CN114967749A true CN114967749A (en) 2022-08-30
CN114967749B CN114967749B (en) 2023-04-07

Family

ID=82964591

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210672684.4A Active CN114967749B (en) 2022-06-14 2022-06-14 Maneuvering trajectory design method for low-cost altimeter

Country Status (1)

Country Link
CN (1) CN114967749B (en)

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109191921A (en) * 2018-08-31 2019-01-11 中国电子科技集团公司第二十八研究所 A kind of blank pipe monitoring data simulation method based on 4D trajectory predictions
CN113534847A (en) * 2021-08-23 2021-10-22 哈尔滨工业大学 Method for designing energy management track of powered reusable aircraft

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109191921A (en) * 2018-08-31 2019-01-11 中国电子科技集团公司第二十八研究所 A kind of blank pipe monitoring data simulation method based on 4D trajectory predictions
CN113534847A (en) * 2021-08-23 2021-10-22 哈尔滨工业大学 Method for designing energy management track of powered reusable aircraft

Non-Patent Citations (4)

* Cited by examiner, † Cited by third party
Title
权申明等: "减速板故障下的ＲLV末端区域能量管理算法设计", 《宇航学报》 *
蓝洋等: "航天飞机末端区域能量管理段航程设计研究", 《宇航学报》 *
闫晓东等: "亚轨道飞行器返回轨道设计方法研究", 《宇航学报》 *
龚宇莲等: "再入飞行器末端能量管理段纵向剖面优化方法", 《空间控制技术与应用》 *

Also Published As

Publication number Publication date
CN114967749B (en) 2023-04-07

Similar Documents

Publication Publication Date Title
CN102645933B (en) Method for implementing flexible combined overload control for aircraft in large airspace
CN106681348A (en) Guidance and control integrated design method considering all-strapdown seeker view field constraint
CN102608596B (en) Information fusion method for airborne inertia/Doppler radar integrated navigation system
CN106527491B (en) A kind of fixed-wing unmanned aerial vehicle control system and horizontal crabbing method for controlling trajectory
CN106681344A (en) Height control method and height control system for aerial vehicle
CN107121929B (en) Robust reentry guidance method based on linear covariance model predictive control
CN101441478A (en) Small-sized unmanned aerial vehicle automatic landing leveling control method and apparatus
CN104764467B (en) Re-entry space vehicle inertial sensor errors online adaptive scaling method
CN110553642B (en) Method for improving inertial guidance precision
CN111290278B (en) Hypersonic aircraft robust attitude control method based on prediction sliding mode
CN112683446B (en) Real-time center-of-gravity position estimation method for airplane
CN104077469A (en) Speed prediction based segmentation iteration remaining time estimation method
CN101713654A (en) Fusing method of atmospheric attack angle and inertia attack angle in transonic flight stage
CN109443342A (en) NEW ADAPTIVE Kalman's UAV Attitude calculation method
CN107844128A (en) A kind of hypersonic aircraft cruise section method of guidance based on compositely proportional guiding
CN104503471A (en) Terminal guidance method for maneuvering aircraft multi-terminal constraint backstepping sliding mode
CN111989265A (en) Autonomous maintenance method for ultralow orbit satellite orbit
CN113900448A (en) Aircraft prediction correction composite guidance method based on sliding mode disturbance observer
CN111158386A (en) Unmanned aerial vehicle attitude control system for interfering autonomous immunity and implementation method
CN112034879B (en) Standard trajectory tracking guidance method based on height-range ratio
CN114608583A (en) Intelligent compensation method for dynamic lever arm effect of hypersonic aircraft
CN114967749B (en) Maneuvering trajectory design method for low-cost altimeter
CN113110538A (en) Fixed-time fault-tolerant control method for carrier-based aircraft landing based on backstepping control
CN111637878A (en) Unmanned aerial vehicle navigation filter
CN115574666B (en) Height setting method for grazing cruise target

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