CN209373110U - A kind of range-measuring circuit based on LoRa modulation system - Google Patents
A kind of range-measuring circuit based on LoRa modulation system Download PDFInfo
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- CN209373110U CN209373110U CN201821827876.3U CN201821827876U CN209373110U CN 209373110 U CN209373110 U CN 209373110U CN 201821827876 U CN201821827876 U CN 201821827876U CN 209373110 U CN209373110 U CN 209373110U
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Abstract
The utility model discloses a kind of range-measuring circuits based on LoRa modulation system, it include power supply unit, main control module, radio-frequency module and R-T unit, the main control module includes main control chip and data display screen, the data output pins of the main control chip are electrically connected with the data input pin of the data display screen, the radio-frequency module includes radio frequency chip, clock circuit and radio frequency matching circuit, the radio frequency chip includes RFIO pin and VBAT pin, the RFIO pin of the radio frequency chip is electrically connected with the radio frequency matching circuit output end, the input terminal of the clock circuit is electrically connected with the clock input pin of the radio frequency chip, the radio frequency matching circuit is electrically connected with the data output end of the R-T unit, the defeated place end of the power supply unit power supply respectively with the main control chip Power input pin and radio frequency chip VBAT pin electrical connection.This range unit ranging response speed is fast, range is remote, consumes low, strong antijamming capability and at low cost.
Description
Technical field
The utility model relates to ranging technology field, in particular to a kind of range-measuring circuit based on LoRa modulation system.
Background technique
At present there are mainly three types of ranging implementation methods on the market.
The first is infrared distance measurement, and indiffusion principle when infrared ray is propagated is utilized in the program, emits infrared ray and surveys
The time that amount infrared ray is reflected back calculates the distance between testee and tested module (the aerial biography of infrared ray
Broadcasting speed is V m/s, infrared ray time of return t(seconds), so that it may calculate distance (s) of the launch point away from barrier, it may be assumed that s=
Vt/2).
Second is ultrasonic distance measurement.This method is that be ultrasonic transmitter emit ultrasound to a direction to principle
Wave starts timing while emission time, and ultrasonic wave is propagated in air, encounters barrier on the way and just returns to come immediately, surpasses
Acoustic receiver receives back wave and just stops timing immediately.(the aerial spread speed of ultrasonic wave is V m/s, timer note
Time t(second of record), so that it may calculate distance (s) of the launch point away from barrier, it may be assumed that s=Vt/2).
The third is laser ranging.The range measurement principle is that a branch of very thin laser is projected to target, is received by photoelectric cell
Target reflection laser beam, timer measure laser beam from the received time is emitted to, calculate from observer to target away from
From.(the aerial spread speed of laser is V m/s, from being emitted to received time t(seconds), so that it may calculate launch point
Distance (s) away from barrier, it may be assumed that s=Vt/2).
Although above-mentioned three kinds of ranging schemes have largely is using, but they the shortcomings that be also obviously.
The advantage and disadvantage of infrared distance measuring: 1, the speed of infrared distance measurement is fast, but the requirement of focus ring border is relatively high, such as too
Usage experience is with regard to excessively poor under sunlight, and the relationship of test result of the infrared distance measurement in the case where not having to color background is not necessarily just
Than；
2, the advantage and disadvantage of ultrasonic distance measurement: ultrasonic distance measurement in poor environment to can use, but the program
Range is small, while ranging speed is also slow；3, the advantage and disadvantage of laser ranging: the speed of laser ranging is fast, and the big precision of range is high,
But it is at high cost.
Chinese patent, publication number: publication date: 108614272 A of CN on October 2nd, 2018, proposes a kind of pulsed
Laser ranging circuit realizes the laser ranging scheme of small size, low cost and high range accuracy, it is characterised in that: include
FPGA module, driver, laser diode, photodiode, trans-impedance amplifier, automatic gain amplifier, threshold comparator, when
It carves and identifies comparator and logical "and" circuit；The output end of the FPGA module connects the input terminal of the driver, is used for
The START signal with nanosecond burst pulse characteristic is issued to the driver；The output end of the driver connects
In the triggering end of the laser diode, to trigger the transmitting of narrow-pulse laser beam；The photodiode with
The trans-impedance amplifier, automatic gain amplifier and logical "and" circuit are successively arranged between the input terminal of FPGA module, it is described
The output that automatic gain puts device is divided into two-way, exports after identifying comparator via the threshold comparator, moment respectively to described
Logical "and" circuit.The speed of laser ranging is fast, and the big precision of range is high, but at high cost, is difficult this technology of large-scale promotion.
Utility model content
The mesh of the utility model is the distance mearuring equipment use cost height for solving present price section, ranging poor to adaptive capacity to environment
The disadvantages of range is small devises a kind of range-measuring circuit based on LoRa modulation system, is rung using the range unit ranging of this circuit
Answer that speed is fast, ranging range is remote, consume it is low, strong antijamming capability and it is at low cost the features such as, be very suitable to large-scale promotion.
To realize the above-mentioned technical purpose, a kind of technical solution provided by the utility model is that one kind is based on LoRa modulation methods
The range-measuring circuit of formula, includes power supply unit, main control module, radio-frequency module and R-T unit, and the main control module includes
There are main control chip and data display screen, the power input pin of the power supply unit power output end and the main control chip
Electrical connection, the data output pins of the main control chip are electrically connected with the data input pin of the data display screen, described to penetrate
Frequency module includes radio frequency chip, crystal oscillating circuit and radio frequency matching circuit, and the radio frequency chip includes RFIO pin and VBAT
Pin, the power output end of the power supply unit are electrically connected with the VBAT pin of the radio frequency chip, the radio frequency chip
RFIO pin is electrically connected with the radio frequency matching circuit output end, the input terminal of the crystal oscillating circuit and the radio frequency chip when
The electrical connection of clock input pin, the radio frequency matching circuit are electrically connected with the data output end of the R-T unit.Main control chip
STM32L4 controls by SPI interface and configures SX1280 range finder module parameter, and passive 52MHz crystal oscillator is frequency inside SX1280
Rate combiner circuit provides external frequency source, and radio frequency matching circuit mainly completes launching circuit and receives the impedance matching and filter in circuit
Wave design, data display unit are mainly the result and signal strength for showing ranging communication.
The power supply unit includes power supply and power circuit, and the power circuit includes zener diode
D3, inductor L5, capacitor C14 and capacitor C12, the negative pole end of the zener diode is electrically connected with power supply, described
The positive terminal of zener diode is grounded, and the first end of the inductor L5 is electrically connected with the first end of the zener diode, institute
The second end for stating inductor is electrically connected with the capacitor C14 first end, the second end ground connection of the capacitor C14, the capacitor C14
Second end be electrically connected with the first end of the capacitor C12, capacitor C12 second end ground connection, the first end of the capacitor C12
It is electrically connected with the VBAT pin of the radio frequency chip.In the present solution, power supply output be 3.3V, without additional voltage stabilizing chip into
The conversion of row voltage.The decoupling capacitor of a 1uF is placed at modular power source VCC to reduce power supply ripple, and is drawn in each power supply
Foot all places the shunt capacitance of a 0.1uF, since the high-frequency resistance of small capacitances is very low, has one to the high-frequency noise of power input
Fixed filter effect.
Preferably, the inductor is model BLM15HG102SN1D patch magnetic bead.In the present solution, in power supply
A 1000R is sealed in, the magnetic bead of 250mA inhibits the energy of specific frequency, can accomplish front and back isolation.
The radio frequency matching circuit includes diode D4, capacitor C24, capacitor C6, capacitor C7, capacitor C8, capacitor C9,
Capacitor C15, inductance L1 and inductance L2, the first end of the diode D4 and the data output end of the R-T unit are electrically connected
It connects, the second end ground connection of the diode D4, the first end of the capacitor C24 is electrically connected with the first end of the diode, institute
The second end for stating capacitor C24 is electrically connected with the first end of the capacitor C9, the second end ground connection of the capacitor C9, the capacitor C9
First end be electrically connected with the first end of the capacitor C8, the second end of capacitor C8 ground connection, the first of the capacitor C8
End is electrically connected with the first end of inductance L2, and the second end of the inductance L2 is electrically connected with the first end of the capacitor, the inductance
The first end of L2 is electrically connected with the first end of the capacitor C15, the second end of the second end of the capacitor C15 and the inductance L2
Electrical connection, the second end ground connection of the capacitor C7, the first end of the capacitor is electrically connected with the first end of the inductance L1, described
The second segment of inductance is electrically connected with the first end of the capacitor C6, the second end ground connection of the capacitor C6, and the first of the capacitor
End is electrically connected with the RFIO pin of the radio frequency chip.In the present solution, by impedance matching and filtering so that the output work of module
Rate, power consumption and harmonic wave reach standard.Capacitor and TVS pipe in circuit are used to stopping direct current, reduce interference, enhance antistatic energy
Power.
Preferably, the diode D4 is two-way type TVS transient voltage suppressor diode.In the present solution, in order to protect
The ESD characteristic for demonstrate,proving module, in a power import TVS diode in parallel.
The crystal oscillating circuit includes crystal oscillator Y1, capacitor C3 and capacitor C10, the radio frequency chip include XTA
Pin and XTB pin, the crystal oscillator Y1 are configured with electric foot Y1-1, electric foot Y1-2, electricity foot Y1-3 and electric foot Y1-4, the electricity foot
Y-1-1 is electrically connected with the first end of capacitor C10, and the first end of the capacitor C10 is electrically connected with the XTB pin, the C10's
Second end ground connection, the electricity foot Y1-3 are electrically connected with the first end of capacitor C3, the first end of the capacitor C3 and the XTA pin
Electrical connection, the second end ground connection of the C3, the electricity foot Y1-2 and electricity foot Y1-4 are grounded simultaneously.In the present solution, what module used
It is a no source crystal oscillator, error 10PPM, load capacitance 12pF, since SX1280 chip interior carries 10PF capacitor, according to load
The calculation of capacitor and parasitic capacitance, if parasitic capacitance is 2pF or so, at crystal oscillator both ends, load capacitance is not pasted.
Preferably, the crystal oscillator is the high frequency passive crystal oscillator of 52MHZ.In the present solution, crystal oscillating circuit is 52MHz high frequency
Crystal oscillating circuit is used to module radio frequency part.
The utility model has the beneficial effects that 1, this programme uses TOF(Time Of Flight airborne hours) ranging
Method, total ranging time-consuming be electromagnetic transmission time+LoRa data packet processing time, SX1280 LoRa modulation it is most fast
Speed can reach 202kbps, and electromagnetic wave propagation speed is fast, so ranging response speed is fast；2, this programme is using LoRa
The features such as modulation system carries out ranging, has both the remote of LoRa, low consumption, strong antijamming capability；3, this programme uses
The SX1280 chip of Semtech, peripheral circuit is simple, and entire module is small in size, at low cost；
Detailed description of the invention
Fig. 1 is a kind of range-measuring circuit schematic diagram based on LoRa modulation system of the utility model.
Fig. 2 is a kind of power circuit diagram of range-measuring circuit based on LoRa modulation system of the utility model.
Fig. 3 is a kind of radio frequency module circuit figure of range-measuring circuit based on LoRa modulation system of the utility model.
Fig. 4 is a kind of range measurement principle figure of range-measuring circuit based on LoRa modulation system of the utility model.
Description of symbols in figure: 1- power supply unit, 2- main control module, 3- radio-frequency module, 4- R-T unit, 21- main control chip,
22- data display screen, 31- radio frequency chip, 32- radio frequency matching circuit, 33- crystal oscillating circuit.
Specific embodiment
For the purpose of this utility model, technical solution and advantage is more clearly understood, with reference to the accompanying drawing and implement
Example is described in further detail the utility model, it should be appreciated that the specific embodiments described herein are only this realities
The protection scope of the utility model, ability are not limited only to explain the utility model with a kind of novel most preferred embodiment
It is practical new to belong to this for domain those of ordinary skill every other embodiment obtained without making creative work
The range of type protection.
As shown in Figure 1, a kind of range-measuring circuit based on LoRa modulation system, includes power supply unit 1, main control module 2, penetrates
Frequency module 3 and R-T unit 4, the main control module 2 include main control chip 21 and data display screen 22, the electricity
1 power output end of source unit is electrically connected with the power input pin of the main control chip 21, and the data of the main control chip 21 are defeated
Pin is electrically connected with the data input pin of the data display screen 22 out, and the radio-frequency module 3 includes radio frequency chip 31, crystal oscillator
Circuit 33 and radio frequency matching circuit 32, the radio frequency chip 31 include RFIO pin and VBAT pin, the power supply unit
Power output end be electrically connected with the VBAT pin of the radio frequency chip 31, the RFIO pin of the radio frequency chip 31 is penetrated with described
The electrical connection of 32 output end of frequency match circuit, the clock input pin of the input terminal of the crystal oscillating circuit 33 and the radio frequency chip 31
Electrical connection, the radio frequency matching circuit 32 are electrically connected with the data output end of the R-T unit 4.In the present embodiment, master control core
Piece 21STM32L4 controls by SPI interface and configures SX1280 range finder module parameter, and passive 52MHz crystal oscillator is in SX1280
Portion's frequency synthesizer circuit provides external frequency source, and radio frequency matching circuit 32 mainly completes launching circuit and receives the impedance in circuit
Match and filter design, data display unit are mainly the result and signal strength for showing ranging communication.
As shown in Fig. 2, the power supply unit 1 includes power supply and power circuit, the power circuit includes
There are zener diode D3, inductor L5, capacitor C14 and capacitor C12, the negative pole end and power supply of the zener diode
Electrical connection, the positive terminal ground connection of the zener diode, the first end of the inductor L5 and the first of the zener diode
End electrical connection, the second end of the inductor are electrically connected with the capacitor C14 first end, the second end ground connection of the capacitor C14,
The second end of the capacitor C14 is electrically connected with the first end of the capacitor C12, the capacitor C12 second end ground connection, the capacitor
The first end of C12 is electrically connected with the VBAT pin of the radio frequency chip 31.In the present embodiment, power supply output is 3.3V, nothing
Additional voltage stabilizing chip is needed to carry out voltage conversion.The decoupling capacitor that 1uF is placed at modular power source VCC reduces power supply ripple,
And the shunt capacitance of a 0.1uF is placed in each power pins, it is defeated to power supply since the high-frequency resistance of small capacitances is very low
The high-frequency noise entered has certain filter effect.
Preferably, the inductor is model BLM15HG102SN1D patch magnetic bead to one kind as the present embodiment.This
In embodiment, a 1000R is sealed in power supply, the magnetic bead of 250mA inhibits the energy of specific frequency, can accomplish front and back isolation.
As shown in figure 3, the radio frequency matching circuit 32 includes diode D4, capacitor C24, capacitor C6, capacitor C7, electricity
Hold C8, capacitor C9, capacitor C15, inductance L1 and inductance L2, the number of the first end of the diode D4 and the R-T unit 4
It is electrically connected according to output end, the second end ground connection of the diode D4, the first end of the capacitor C24 and the first of the diode
End electrical connection, the second end of the capacitor C24 are electrically connected with the first end of the capacitor C9, the second termination of the capacitor C9
Ground, the first end of the capacitor C9 are electrically connected with the first end of the capacitor C8, the second end ground connection of the capacitor C8, described
The first end of capacitor C8 is electrically connected with the first end of inductance L2, the second end of the inductance L2 and the first end electricity of the capacitor
Connection, the first end of the inductance L2 is electrically connected with the first end of the capacitor C15, the second end of the capacitor C15 with it is described
The second end of inductance L2 is electrically connected, the second end ground connection of the capacitor C7, and the of the first end of the capacitor and the inductance L1
One end electrical connection, the second segment of the inductance are electrically connected with the first end of the capacitor C6, the second end ground connection of the capacitor C6,
The first end of the capacitor is electrically connected with the RFIO pin of the radio frequency chip 31.In the present embodiment, pass through impedance matching and filter
Wave makes output power, power consumption and the harmonic wave of module reach standard.Capacitor and TVS pipe in circuit are used to stopping direct current, reduce
Interference enhances antistatic effect.
Preferably, the diode D4 is two-way type TVS transient voltage suppressor diode to one kind as the present embodiment.This
In embodiment, in order to guarantee the ESD characteristic of module, in a power import TVS diode in parallel.
As shown in figure 3, the crystal oscillating circuit 33 includes crystal oscillator Y1, capacitor C3 and capacitor C10, the radio frequency core
Piece 31 includes XTA pin and XTB pin, and the crystal oscillator Y1 is configured with electric foot Y1-1, electric foot Y1-2, electricity foot Y1-3 and electric foot
Y1-4, the electricity foot Y-1-1 are electrically connected with the first end of capacitor C10, the first end of the capacitor C10 and XTB pin electricity
Connection, the second end ground connection of the C10, the electricity foot Y1-3 are electrically connected with the first end of capacitor C3, and the first of the capacitor C3
End is electrically connected with the XTA pin, and the second end ground connection of the C3, the electricity foot Y1-2 and electricity foot Y1-4 are grounded simultaneously.This reality
It applies in example, module uses a no source crystal oscillator, error 10PPM, load capacitance 12pF, since SX1280 chip interior is included
10PF capacitor, according to the calculation of load capacitance and parasitic capacitance, if parasitic capacitance is 2pF or so, in crystal oscillator two
End load capacitance is not pasted.
Preferably, the crystal oscillator is the high frequency passive crystal oscillator of 52MHZ to one kind as the present embodiment.It is brilliant in the present embodiment
The circuit 33 that shakes is 52MHz high-frequency crystal oscillator circuit 33, is used to module radio frequency part.
As shown in figure 4, being the range measurement principle figure of the utility model, concrete principle is that host sends ranging data packet, slave
Carry out response, it is assumed that time such as icon are infused, then last distance measurement result are as follows: S=C* (Tt-Tr)/2；This ranging bottom is modulated
LoRa modulation, frequency range is 2400Mhz -2500Mhz, by the communication of two range finder modules, the recording electromagnetic wave round-trip time,
It is communicated by multiple ranging to obtain more accurately distance measurement result.
Specific step is as follows:
Step 1, host is communicated with LoRa of slave progress, and host sends out the ranging number of this ranging and initial frequency point
Give slave, slave obtains the calibration parameter value that subsequent calibrations optimization needs after receiving, including frequency deviation, RSSI, SNR, frequency deviation because
Son, the calibration value for compensating communication delay are simultaneously sent to host；
Step 2, host slave reconfigures parameter, carries out the communication of ranging data packet, and single ranging needs to carry out n times survey
Away from communication, each ranging communication is carried out by frequency-hopping mode in different frequent points, strengthens anti-interference ability；
Step 3, one group of array comprising N number of original ranging distance value is obtained after the completion of ranging communicates, by the number
Group optimizes to obtain final accurate distance.
The specific embodiment of the above be a kind of range-measuring circuit based on LoRa modulation system of the utility model compared with
Good embodiment, limits the specific implementation range of the utility model not with this, and the scope of the utility model includes being not limited to
Present embodiment, equivalence changes made by all shape, structures according to the utility model are in the protection of the utility model
In range.
Claims (7)
1. a kind of range-measuring circuit based on LoRa modulation system, which is characterized in that include power supply unit (1), main control module
(2), radio-frequency module (3) and R-T unit (4), the main control module (2) include that main control chip (21) and data are aobvious
Display screen (22), the power supply unit (1) power output end are electrically connected with the power input pin of the main control chip (21), institute
The data output pins for stating main control chip (21) are electrically connected with the data input pin of the data display screen (22), the radio frequency
Module (3) includes radio frequency chip (31), crystal oscillating circuit (33) and radio frequency matching circuit, and the radio frequency chip (31) includes
RFIO pin and VBAT pin, the power output end of the power supply unit (1) and the VBAT pin electricity of the radio frequency chip (31)
Connection, the RFIO pin of the radio frequency chip (31) are electrically connected with the radio frequency matching circuit output end, the crystal oscillating circuit
(33) input terminal is electrically connected with the clock input pin of the radio frequency chip (31), the radio frequency matching circuit and the transmitting-receiving
The data output end of device (4) is electrically connected.
2. a kind of range-measuring circuit based on LoRa modulation system according to claim 1, which is characterized in that the power supply
Unit (1) includes power supply and power circuit, and the power circuit includes zener diode D3, inductor L5, electricity
Hold C14 and capacitor C12, the negative pole end of the zener diode are electrically connected with power supply, the zener diode is just
Extreme ground connection, the first end of the inductor L5 are electrically connected with the first end of the zener diode, and the second of the inductor
End is electrically connected with the capacitor C14 first end, and the second end of the capacitor C14 is grounded, the second end of the capacitor C14 with it is described
The first end of capacitor C12 is electrically connected, the capacitor C12 second end ground connection, the first end of the capacitor C12 and the radio frequency chip
(31) VBAT pin electrical connection.
3. a kind of range-measuring circuit based on LoRa modulation system according to claim 2, which is characterized in that the inductance
Device is model BLM15HG102SN1D patch magnetic bead.
4. a kind of range-measuring circuit based on LoRa modulation system according to claim 1, which is characterized in that the radio frequency
Match circuit includes diode D4, capacitor C24, capacitor C6, capacitor C7, capacitor C8, capacitor C9, capacitor C15, inductance L1 and
The first end of inductance L2, the diode D4 are electrically connected with the data output end of the R-T unit (4), the diode D4's
Second end ground connection, the first end of the capacitor C24 are electrically connected with the first end of the diode, the second end of the capacitor C24
It is electrically connected with the first end of the capacitor C9, the second end ground connection of the capacitor C9, the first end of the capacitor C9 and the electricity
Hold the first end electrical connection of C8, the second end ground connection of the capacitor C8, the first end of the capacitor C8 and the first of inductance L2
End electrical connection, the second end of the inductance L2 is electrically connected with the first end of the capacitor, the first end of the inductance L2 with it is described
The first end of capacitor C15 is electrically connected, and the second end of the capacitor C15 is electrically connected with the second end of the inductance L2, the capacitor
The second end of C7 is grounded, and the first end of the capacitor is electrically connected with the first end of the inductance L1, the second segment of the inductance and
The first end of the capacitor C6 is electrically connected, the second end ground connection of the capacitor C6, the first end of the capacitor and the radio frequency core
The RFIO pin of piece (31) is electrically connected.
5. a kind of range-measuring circuit based on LoRa modulation system according to claim 4, which is characterized in that two poles
Pipe D4 is two-way type TVS transient voltage suppressor diode.
6. a kind of range-measuring circuit based on LoRa modulation system according to claim 1 or 2 or 4, which is characterized in that described
Crystal oscillating circuit (33) include crystal oscillator Y1, capacitor C3 and capacitor C10, the radio frequency chip (31) includes XTA pin
With XTB pin, the crystal oscillator Y1 is configured with electric foot Y1-1, electric foot Y1-2, electricity foot Y1-3 and electric foot Y1-4, the electricity foot Y-1-
1 is electrically connected with the first end of capacitor C10, and the first end of the capacitor C10 is electrically connected with the XTB pin, and the second of the C10
End ground connection, the electricity foot Y1-3 are electrically connected with the first end of capacitor C3, and the first end of the capacitor C3 is electrically connected with the XTA pin
It connects, the second end ground connection of the C3, the electricity foot Y1-2 and electricity foot Y1-4 are grounded simultaneously.
7. a kind of range-measuring circuit based on LoRa modulation system according to claim 6, which is characterized in that the crystal oscillator
For the high frequency passive crystal oscillator of 52MHZ.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201821827876.3U CN209373110U (en) | 2018-11-07 | 2018-11-07 | A kind of range-measuring circuit based on LoRa modulation system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201821827876.3U CN209373110U (en) | 2018-11-07 | 2018-11-07 | A kind of range-measuring circuit based on LoRa modulation system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110708111A (en) * | 2019-10-09 | 2020-01-17 | 中国人民解放军军事科学院国防科技创新研究院 | Inter-satellite adaptive communication system and communication method thereof |
| CN110703290A (en) * | 2019-10-09 | 2020-01-17 | 中国人民解放军军事科学院国防科技创新研究院 | Inter-satellite distance measuring device |
| CN111830277A (en) * | 2020-07-08 | 2020-10-27 | 徐州工程学院 | Arrow speed measuring instrument |
-
2018
- 2018-11-07 CN CN201821827876.3U patent/CN209373110U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110708111A (en) * | 2019-10-09 | 2020-01-17 | 中国人民解放军军事科学院国防科技创新研究院 | Inter-satellite adaptive communication system and communication method thereof |
| CN110703290A (en) * | 2019-10-09 | 2020-01-17 | 中国人民解放军军事科学院国防科技创新研究院 | Inter-satellite distance measuring device |
| CN111830277A (en) * | 2020-07-08 | 2020-10-27 | 徐州工程学院 | Arrow speed measuring instrument |
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Effective date of registration: 20191209 Address after: 310000 room 1201, block a, building 18, United courtyard, Gongshu District, Hangzhou City, Zhejiang Province Patentee after: Lierda Science & Technology Group Co., Ltd. Address before: Yuhang District, Hangzhou City, Zhejiang Province, 311121 West No. 1500 Building No. 1 room 105 Patentee before: ZHEJIANG LIERDA INTERNET OF THINGS TECHNOLOGY CO., LTD. |
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