EP3555666A1 - Procédé et dispositif de détermination d'une position de navigation d'un système de navigation pour véhicule automobile et système de navigation - Google Patents

Procédé et dispositif de détermination d'une position de navigation d'un système de navigation pour véhicule automobile et système de navigation

Info

Publication number
EP3555666A1
EP3555666A1 EP17811957.4A EP17811957A EP3555666A1 EP 3555666 A1 EP3555666 A1 EP 3555666A1 EP 17811957 A EP17811957 A EP 17811957A EP 3555666 A1 EP3555666 A1 EP 3555666A1
Authority
EP
European Patent Office
Prior art keywords
navigation
data
determining
inertial
determined
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.)
Ceased
Application number
EP17811957.4A
Other languages
German (de)
English (en)
Inventor
Karsten Mattmüller
Helmut Schmidt
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.)
Continental Automotive Technologies GmbH
Original Assignee
Continental Automotive GmbH
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 Continental Automotive GmbH filed Critical Continental Automotive GmbH
Publication of EP3555666A1 publication Critical patent/EP3555666A1/fr
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/40—Correcting position, velocity or attitude
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/20—Integrity monitoring, fault detection or fault isolation of space segment
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/396—Determining accuracy or reliability of position or pseudorange measurements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/421—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system
    • G01S19/423—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system by combining or switching between position solutions derived from different satellite radio beacon positioning systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/421—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system
    • G01S19/426—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system by combining or switching between position solutions or signals derived from different modes of operation in a single 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
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/40—Correcting position, velocity or attitude
    • G01S19/41—Differential correction, e.g. DGPS [differential GPS]

Definitions

  • the invention relates to a method and a corresponding device for determining a navigation position of a navigation system for a motor vehicle, which in particular enables a so-called high-precision positioning with an accuracy of less than 3 m.
  • the invention further relates to a navigation system for a motor vehicle, which allows an accuracy of less than 3 m in determining the position.
  • GNSS global navigation satellite systems
  • GPS Global Positioning System
  • Glonass Glonass
  • Beidou Beidou
  • Galileo Galileo
  • further such systems may be provided which are used for position determination and navigation by receiving signals from navigation satellites and associated ground stations.
  • navigation satellite systems are used to determine the position of the motor vehicle and to determine a route to a given destination using a navigation system ⁇ .
  • a navigation satellite system Conventionally, by means of a navigation satellite system, an accuracy of 3 m or more can be achieved in the position determination.
  • the invention is characterized according to aspects by a method and a corresponding device for determining a navigation position of a navigation system for a motor vehicle.
  • respective position data of a plurality of mutually different navigation satellite systems are received.
  • position data are received from all available navigation satellite systems, ie GPS, Galileo, Glonass and Beidou.
  • a respective position of the navigation system is determined as a function of the position data.
  • a deviation of the respective positions is determined.
  • the navigation position is determined as a function of the respective positions if the deviation is smaller than a predetermined threshold value for the
  • Deviation is, for example, the deviation should be less than 5%.
  • the navigation position is in particular the value which is used by the navigation system for further subsequent calculations, for example for navigation and / or position determination.
  • An inertial position of the navigation system is determined by means of an inertial measuring unit.
  • a second deviation between the inertial position and at least one of the positions determined as a function of the position data is determined.
  • the navigation position is determined a position in response to the at least when the second differential is less than a predetermined threshold value for the second Ab ⁇ deviation, for example, the deviation should be less than 5%.
  • the inertial measuring unit is in particular a measuring unit independent of navigation satellite systems.
  • Respective correction data for the plurality of navigation satellite systems is received.
  • the navigation position is determined as a function of the received correction data.
  • the correction data is provided in particular by data providers.
  • Navigation system is dependent on the certified
  • data is encrypted and has high accuracy and reliability.
  • Probability also corresponds to the actual position of the navigation device.
  • a highly accurate position is a position with an accuracy of at most 3 m, in particular less than 1 m, for example, an accuracy of 30 cm or less. In conventional receivers for global navigation satellite systems, it is possible to determine such highly accurate positions. These positions are not secured and not reliable enough to be used for a motor vehicle. By means of the method according to the application, it is possible to secure the determined positions and to use them to determine the navigation position only if the determined positions have been validated accordingly.
  • the combination of different monitoring mechanisms for the validation of the determined position allows a high reliability in the determination of the navigation position.
  • the different levels of contribution to determining the high-accuracy navigation position will be different Associated with monitoring methods.
  • a sufficiently good system security is given, so that the highly accurate navigation ⁇ onspositionen can be reliably used.
  • the navigation position for automated driving in addition to conventional navigation applications.
  • a track determination for the motor vehicle is possible by means of the highly accurate navigation position.
  • the high-precision navigation position is possible in particular even with poor reception from the satellites, for example in the case of buildings or trees or other disturbances caused, for example, by the ionosphere, with sufficiently high accuracy.
  • a method of monitoring includes determining the position of the navigation system, depending on the ver ⁇ different available global navigation satellite systems. An individual position is determined by means of each navigation satellite system. All possible pairings are compared and the respective deviations in the determined positions are determined. All
  • Deviations are now checked as to whether one of the ⁇ passed threshold value is exceeded for the deviation. If this is the case, all Navigationssa ⁇ tellitensysteme used function normally and the respective determined positions are used to determine the navigation position.
  • Another method is to check the plausibility of the movement by means of the inertial measuring unit.
  • an expectation window is determined for the next position to be determined.
  • the expectation window is specified in particular around the inertial position.
  • the expectation window by means of already known However, this method is not used here to calculate a position in the event of satellite navigation failure, but to determine in advance an area in which the next determined position should lie. If the determined position in the expectation window, the determined position is validated and used for the determination of Na ⁇ vigationsposition.
  • correction data is received by a correction service.
  • the correction service provides information about the status of each satellite of the navigation satellite systems. Ins ⁇ particular this includes fixes for the present in the satellite clock and / or corrections to the trajectory data of the respective satellites.
  • several correction services are used, both to increase the reliability of the Cor ⁇ rektur schemes and each to validate the correction data of another correction service.
  • Another method is the adjustment by means of a certifi ⁇ ed position.
  • the certified position data are made available, for example, with the aid of the PRS band of the Galileo navigation satellite system by means of a data provider.
  • the certified position data has a higher accuracy than the normal position data.
  • the certified position is determined at specific operating conditions, for example when the system is started up and subsequently at variable times, in order to be able to use the certified position ensured by the public services as an absolutely exact reference. For example, this makes it possible to compensate for customary sensor drives.
  • navigation satellite system receivers with a standard accuracy can be individually checked cyclically independently. This test is performed, for example, at intervals of several minutes distance. Thus, it is possible to ensure that the determined position within a given deviation from the certified position.
  • ⁇ telt in verifying the integrity of each navigation satellite systems always whether a navigation satellite systems is involved, when a deviation of each of two positions is greater than the predetermined threshold value for the deviation. If this is the case, it can be assumed that this one navigation satellite system is faulty. Consequently, the position data of this navigation satellite system is not used for determining the navigation position. Alternatively or additionally, a determined navigation position
  • the navigation position is determined without the position data of the navigation satellite system whose position data ⁇ have led to the determined position, which lies outside the expected window to the inertial position.
  • the expectation window is determined for each possible combination.
  • the reliability can be further increased.
  • a navigation system for a motor vehicle for determining a navigation position has a plurality of receivers for receiving respective position data of a plurality of mutually different navigation satellite systems.
  • An inertial measuring unit for determining an inertial position of the navigation system is provided.
  • the navigation system points at least one receiving unit for receiving correction data.
  • the navigation system has a further receiving unit for receiving certified position data.
  • the navigation system comprises a device signally coupled to the plurality of receivers, the inertial measurement unit, the receiver unit and the further receiver unit, the device is designed, depending on the Po ⁇ sitions stylist, the inertial position of the correction data and the certified Position data to determine the navigation position.
  • the device is designed to carry out the method according to the application.
  • the navigation device is designed to perform a method according to the application.
  • the method according to the application can be carried out in particular by the navigation device.
  • the advantages and features of the method described apply correspondingly for the navigation system ⁇ and vice versa. Further advantages, features and developments emerge from the following, explained in conjunction with Figures 1 and 2 examples.
  • Figure 1 is a schematic representation of a navigation ⁇ system according to an embodiment
  • Figure 2 is a schematic representation of a method according to an embodiment.
  • FIG. 1 shows a navigation system 100, in particular the navigation system 100 of a motor vehicle.
  • a navigation position determined by means of the navigation system 100 is used in particular for the navigation of the motor vehicle and for an autonomized driving of the motor vehicle.
  • the navigation position which by means of the Navigation system 100 has been determined, so accurate that the motor vehicle can be assigned on the lane of a lane.
  • the accuracy is in particular at least 1 m and in particular better than 30 cm.
  • An antenna 102 for receiving the position data of a plurality of mutually different navigation satellite systems is provided.
  • the antenna 102 is adapted to receive position data of the known navigation satellite systems GPS, Galileo, Glonass and Beidu.
  • a splitter 114 in particular a GNSS splitter, is arranged downstream of the antenna 102.
  • filters 115, 116 and 117 are provided.
  • the filter 115 is for example a L1 / B2 / E5 filter that filters the entspre ⁇ sponding frequencies.
  • the filter 116 is, for example, a Ll / Bl filter.
  • the filter 117 is, for example, a so-called multi-constellation filter.
  • a receiver 108 to 111 is provided.
  • the receiver 108 is a GPS receiver
  • the receiver 109 is a Glonass receiver
  • the receiver 110 is a Galileo receiver
  • the receiver 111 is a Beidu receiver.
  • the navigation system 100 has a high-precision inertial measurement unit 105 with six degrees of freedom. There may be provided further inertial measuring units 106, which are also used in conventional motor vehicles. For example, information of an information unit 118 for determining the navigation position is also used, which includes, for example, information about the speed of the motor vehicle and / or other information that can be used to ascertain and check the plausibility of the navigation position.
  • a telematics control unit 104 is provided, the data from
  • Data providers 101 and 107 can receive.
  • the data provider 101 supplies, for example, certified position data. That one- For example, provider 107 provides correction data for the respective navigation satellite systems.
  • the navigation system 100 has a device 200 with a processor 103.
  • the device 100 is set up to process data of the various elements of the navigation system and other input variables and to determine the navigation position.
  • the device 200 has different hardware and software modules. Different functions of the navigation system according to the application can be implemented in hardware and / or software of the device 200.
  • a receiving unit 112 is realized as software in the device 200, which further processes the correction data and certified position data of the data providers 101 and 107.
  • the navigation system has a further receiving unit 113, which can also receive and process further certified position data directly from the navigation satellite system, in particular from Galileo.
  • step 201 position data are respectively received by the available navigation satellite systems.
  • the device 200 determines a respective position by means of the received position data.
  • an individual position for the navigation system is determined by means of each available navigation satellite system.
  • step 203 all possible pairings of the determined positions are compared and the respective deviations within the pairings are determined. Will be there determines that the position, which always deviates more than a predetermined threshold from the other positions by means of position data of a particular navigation satellite system, is based on an error in the position determination by means of this particular navigation satellite system.
  • the device 200 determines in step 204, the navigation ⁇ gationsposition in function of the other determined positions and independently of the determined position of the certain navigation satellite system. For example, an average of the determined positions is determined and determined as a navigation position for further use.
  • step 205 it is determined whether a navigation position has already been used as a function of a determined position of the particular navigation satellite system. If this is the case, this navigation position is invalidated. Thus, the device 200 determines a highly accurate Navigationspo ⁇ sition with the additional information, whether these highly accurate navigation position is reliable enough to be used.
  • the positions determined in step 202 are plausibilized in a step 206 with the values of the inertial measurement unit 105 and possibly additionally the second inertial measurement units 106. If detected positions deviate more than a predefined threshold value from the inertial positions determined by means of the inertial measurement unit 105, these determined positions are not used to determine the navigation position. Alternatively or additionally, it is checked whether a navigation position has already been determined as a function of this determined position. If this is the case, this navigation position is invalidated. Thus, it is possible to plausibilize and validate the navigation position determined by the device 200 also by means of a satellite-independent system.
  • correction data of a plurality of mutually different correction services 107 are received in a step 207 and included in the calculation of the navigation position or the individual determined positions of the navigation satellite systems.
  • the certified positional data of the PRS belt (E5) of the Galileo Navigationssa ⁇ tellitensystems be used.
  • the data are used directly by means of the further receiver unit 113 and via one or more of the data provider 101.
  • the verification of the ER mediated reckoning position with the certified position is in particular not for each identified navigation ⁇ position, but in regular or irregular intervals of, say, several minutes. In particular, at startup, a reliable reference position is thus determined, which is ensured that it lies within a predetermined frame and the actual position.
  • the highly accurate and reliable navigation position is determined from all variables determined by means of the steps 201 to 208, which will then be passed on to other systems of the motor vehicle, for example for calculating a route or for controlling an automated driving.
  • the apparatus 200 is thus arranged to detect the navigation ⁇ position with an accuracy of less than 1 m to the actual position around.
  • the high-precision intertial measurement unit 105 and the highly accurate navigation satellite systems and the correction services ver ⁇ applies.
  • the device 200 is set up to check the integrity of the determined navigation position.
  • information from the electronic stability program and the further inertial measurement units 106 are used to determine an expected corridor for the position determined by means of the satellite data.
  • positions are determined independently of each other by means of mutually different navigation satellite systems, so that errors in individual navigation satellite systems can be noticed and possibly hidden.
  • the device 200 is set up to match the determined navigation position with certified positions and thus to determine absolute references. Overall, therefore, the determination of a highly accurate navigation position is realized with sufficiently high surveillance that the determined navigation position is within a predetermined deviation of, for example, less than 1 m from the actual position.

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Security & Cryptography (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Navigation (AREA)

Abstract

L'invention concerne un système de navigation d'un véhicule automobile destiné à déterminer une position de navigation, qui comprend : une pluralité de récepteurs (108, 109, 110, 111) destinés à recevoir des données de position respectives d'une pluralité de systèmes de navigation par satellite différents, une unité de mesure inertielle (105, 106) destinée à déterminer une position inertielle du système de navigation, une unité de réception (112) destinée à recevoir des données de correction, une autre unité de réception (113) destinée à recevoir des données de position certifiées, un dispositif (200) couplé à la pluralité de récepteurs (108, 109, 110, 111), à l'unité de mesure inertielle (105, 106), à l'unité de réception (112) et à l'autre unité de réception (113) par une technique de signal. Le dispositif (200) est conçu pour déterminer la position de navigation en fonction des données de position, de la position inertielle, des données de correction et des données de position certifiées. De plus, l'invention concerne un procédé qui peut être mis en œuvre notamment par le dispositif de navigation.
EP17811957.4A 2016-12-16 2017-12-11 Procédé et dispositif de détermination d'une position de navigation d'un système de navigation pour véhicule automobile et système de navigation Ceased EP3555666A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102016225282.8A DE102016225282A1 (de) 2016-12-16 2016-12-16 Verfahren und Vorrichtung zum Ermitteln einer Navigationsposition eines Navigationssystems für ein Kraftfahrzeug sowie Navigationssystem
PCT/EP2017/082177 WO2018108787A1 (fr) 2016-12-16 2017-12-11 Procédé et dispositif de détermination d'une position de navigation d'un système de navigation pour véhicule automobile et système de navigation

Publications (1)

Publication Number Publication Date
EP3555666A1 true EP3555666A1 (fr) 2019-10-23

Family

ID=60654977

Family Applications (1)

Application Number Title Priority Date Filing Date
EP17811957.4A Ceased EP3555666A1 (fr) 2016-12-16 2017-12-11 Procédé et dispositif de détermination d'une position de navigation d'un système de navigation pour véhicule automobile et système de navigation

Country Status (5)

Country Link
US (1) US11294069B2 (fr)
EP (1) EP3555666A1 (fr)
CN (1) CN110050202B (fr)
DE (1) DE102016225282A1 (fr)
WO (1) WO2018108787A1 (fr)

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Publication number Priority date Publication date Assignee Title
JP6971384B2 (ja) * 2018-03-26 2021-11-24 アルプスアルパイン株式会社 位置推定装置、位置推定システム、位置推定方法、およびプログラム
CN113971846B (zh) * 2020-07-22 2023-05-09 宇通客车股份有限公司 一种自动驾驶车辆的定位失效检测方法及装置
CN114236573B (zh) * 2022-02-24 2022-08-02 浙江时空道宇科技有限公司 一种定位精度监测方法、装置、电子设备及存储介质
DE102022122508A1 (de) * 2022-09-06 2024-03-07 Sick Ag System und Verfahren mit einem System

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Also Published As

Publication number Publication date
WO2018108787A1 (fr) 2018-06-21
CN110050202A (zh) 2019-07-23
CN110050202B (zh) 2023-06-16
DE102016225282A1 (de) 2018-06-21
US20200225362A1 (en) 2020-07-16
US11294069B2 (en) 2022-04-05

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