WO2001011385A1 - Verfahren und vorrichtung zur bestimmung eines höhenwinkelfehlers eines mehrstrahligen radar-sensors - Google Patents
Verfahren und vorrichtung zur bestimmung eines höhenwinkelfehlers eines mehrstrahligen radar-sensors Download PDFInfo
- Publication number
- WO2001011385A1 WO2001011385A1 PCT/DE2000/002371 DE0002371W WO0111385A1 WO 2001011385 A1 WO2001011385 A1 WO 2001011385A1 DE 0002371 W DE0002371 W DE 0002371W WO 0111385 A1 WO0111385 A1 WO 0111385A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- angle
- values
- radar sensor
- stored
- elevation
- Prior art date
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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
- G01S7/4026—Antenna boresight
- G01S7/4034—Antenna boresight in elevation, i.e. in the vertical plane
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
- G01S7/4026—Antenna boresight
-
- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/42—Simultaneous measurement of distance and other co-ordinates
- G01S13/424—Stacked beam radar
-
- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/46—Indirect determination of position data
- G01S13/48—Indirect determination of position data using multiple beams at emission or reception
-
- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/28—Details of pulse systems
- G01S7/285—Receivers
- G01S7/295—Means for transforming co-ordinates or for evaluating data, e.g. using computers
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
- G01S7/4052—Means for monitoring or calibrating by simulation of echoes
- G01S7/4082—Means for monitoring or calibrating by simulation of echoes using externally generated reference signals, e.g. via remote reflector or transponder
- G01S7/4091—Means for monitoring or calibrating by simulation of echoes using externally generated reference signals, e.g. via remote reflector or transponder during normal radar operation
Definitions
- the invention is based on a method for determining an elevation angle error in a multi-beam radar sensor according to the preamble of claim 1 or on a radar sensor according to the preamble of claim 9.
- Multi-beam radar systems or sensors for determining a side or elevation angle in relation to a detected target are already known several times.
- DE 197 48 604 AI describes a method for determining a side and / or an elevation angle, in which at least two echo signals of the radar target are recorded. The amplitude of each echo or receive beam is standardized and compared with normalized values of an antenna diagram, which were previously determined and stored for the horizontal base plane formed by the radar system. The comparison results from at least two reception beams become angle-dependent
- the evaluation size is linked and the angle at which a minimum or maximum criterion is met is determined.
- the phase position of the most agile two recorded echo signals is also evaluated to determine the angle. This method works satisfactorily as long as the target, which is ideally assumed to be punctiform, lies in the zero degree plane of the basic plane spanned by the radar sensor. If elevation angles occur between the plane of the radar sensor and the target, there is an error in the evaluation of the amplitude relationships between the transmit and echo signal, which increases the greater the elevation angle.
- the reference antenna diagrams are symmetrical with respect to their vertical axis, memory space can advantageously be saved if only the values for one symmetry half of a sectional plane are saved. For example, it is sufficient to save only the values with a positive angle of a section plane together with the direction, because for negative angles the values - apart from the direction - are identical.
- the values for the antenna diagrams are normalized and thus dependent on the absolute signal amplitude.
- the received signal amplitudes of the Radar beams are also standardized.
- standardized amplitude values and standardized antenna diagram values are compared and a quality value is applied. The greatest probability can be determined from the large number of values determined for the elevation angle. The optimal lateral angle determined for this can then be output as a result.
- the radar sensor when used in a motor vehicle, the movements of the vehicle while driving are easily recognized and, for example, distance measurements to a vehicle in front can be carried out with greater accuracy and reliability.
- FIG. 1 shows a block diagram of a radar sensor
- FIG. 2 shows a detected target with a corresponding elevation angle
- FIG. 3 shows a diagram with lateral sectional planes
- FIG. 4 shows the Intensity distributions of the echo signals of several sectional planes
- FIG. 5 shows a flow chart.
- FIG. 1 shows in schematic form a block diagram of a radar sensor with a controller 10, with which radar beams are emitted via transceiver antennas 11, 12, 13, which are reflected by a target 4. The reflected echo signals are in turn picked up by the transmit / receive antennas 11, 12, 13 and evaluated in the controller 10.
- the controller 10 is connected to a memory 14 in which suitable values (for example normalized amplitude, phase values, etc.) of antenna diagrams are stored for a plurality of laterally arranged cutting planes 1. The stored values are used as reference values for the echo signals received by the antennas 11, 12, 13.
- the controller is connected to an angle output 15 in which an elevation angle is output, for example in the form of an optical display or an electrical signal. When comparing with the base plane, the elevation angle can be output as a misalignment or error angle.
- the radar sensor with its individual components is known per se, for example from DE 197 48 604 AI and therefore does not need to be explained in more detail. The functioning of the arrangement according to the invention will be discussed later.
- FIG. 2 shows a diagram of the formation of the height angle ⁇ , which is formed between the radar sensor 3 and a (preferably punctiform) target 4 assumed in several sectional planes 0, 1, 2, 3 with respect to the base plane 0.
- a height angle ⁇ 1 to the target 4 is formed on the first section plane.
- the assumed target 4 on the second cutting plane forms the height angle ⁇ 2, while the target 4 on the third cutting plane forms the height angle ⁇ 3 etc. Negative angles are formed accordingly, they have not been shown for reasons of clarity.
- FIG. 3 shows a diagram with lateral sectional planes 0 to 4 or 0 to -4, which are arranged around the basic plane (0 degrees) for reasons of symmetry. If, for example, the individual lateral sectional planes 1 are arranged at equidistant distance a, then the positive distribution of the lateral sectional planes 1 results in the same intensity distribution for the intensity I of the individual beams as on the negative sectional planes -1 to -4.
- a side angle can also be calculated from the three antenna diagrams 2.
- the individual distributions of the intensity in the positive and negative half of the cut are identical because of the symmetry of the antenna diagrams 2.
- this can be the signal of the road clutter for the negative half-plane.
- the choice of the distance a of the lateral sectional plane 1 can be determined as desired.
- an angular range of ⁇ 2 ° would be recorded.
- the intensity I of the three antenna diagrams 2 for the section plane 1 or section plane 4 is stored as a function of the height angle ⁇ .
- the intensity curves I shown correspond to the first index number of the corresponding antenna of the multi-beam radar sensor and the second index number to the corresponding plane as a function of the height angle ⁇ .
- the intensity z. B. the amplitude in the first level is much larger than in the dashed curve of the fourth level.
- Corresponding values for an antenna diagram have now been stored in the memory 15 for each level.
- the values for the corresponding antenna diagram 2 can be stored in different ways.
- the individual measured values can be stored directly or alternatively standardized and / or stored for different cutting planes in the form of corresponding parameters, for example as a coefficient set of a polynomial.
- an amplitude-independent normalization of the antenna diagrams is selected in position 21, for example in the form of the intensity distributions. Furthermore, a quality function is determined, which is derived from the measured amplitudes. The quality function is determined, for example, according to the known experience of DE 197 48 604 AI.
- position 22 are now all measured angles ⁇ of a certain section plane 1 compared with respect to their quality. The angle which has the greatest quality results in the elevation angle ⁇ for this sectional plane 1.
- the corresponding height angle ⁇ is also determined in the same way. In this way, an assigned elevation angle is obtained for each section plane.
- Cutting planes is determined.
- the angle with the maximum total quality is then the desired elevation angle ⁇ .
- Another alternative consists in weighting the quality values that are determined in each step or the associated lateral angles by taking into account the angle results of previous measurements.
- the result is an optimal overall angle for the lateral resolution with respect to the elevation, which takes into account the previous measurements on the one hand and the current quality assessment on the other hand.
- the height angles ⁇ found are stored with the greatest quality, so that a long-term histogram can be created for long-term measurements with any number of measuring cycles, with which, for example, a misalignment of the radar sensor 3 can be recognized.
- a misalignment of the radar sensor 3 can be recognized.
- the error angle is, for example, averaged from the stored long-term histoprogram for a height adjustment that was saved most frequently. This error angle is then, taking into account the road clutter, the angle sought for the misalignment of the radar sensor.
- an evaluation can alternatively be carried out, which calculates the corresponding angle from the position of the vertical quality maximum from the long-term hystogram.
- This method advantageously provides a robust angle evaluation that is minimally dependent on vertical fluctuations.
- this method can be used, for example, to calculate the pitching movement of a motor vehicle while driving. If, for example, the distance to a vehicle in front is measured with the radar sensor 3 (ACC Adaptive Cruise Controle), then the distance signal, which is obtained from the running time or the phase of the axis signal, can be corrected taking into account the pitching movement of the vehicle.
- the radar sensor 3 ACC Adaptive Cruise Controle
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2001515987A JP2003506720A (ja) | 1999-08-10 | 2000-07-21 | マルチビームレーダセンサの仰角誤差の決定方法及びその装置。 |
EP00956092A EP1118020A1 (de) | 1999-08-10 | 2000-07-21 | Verfahren und vorrichtung zur bestimmung eines höhenwinkelfehlers eines mehrstrahligen radar-sensors |
US09/807,196 US6476760B1 (en) | 1999-08-10 | 2000-07-21 | Device for detecting angle of elevation error in a multiple beam radar sensor |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE19937723A DE19937723C2 (de) | 1999-08-10 | 1999-08-10 | Verfahren und Vorrichtung zur Bestimmung eines Höhenwinkelfehlers eines mehrstrahligen Radar-Sensors |
DE19937723.5 | 1999-08-10 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2001011385A1 true WO2001011385A1 (de) | 2001-02-15 |
Family
ID=7917840
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/DE2000/002371 WO2001011385A1 (de) | 1999-08-10 | 2000-07-21 | Verfahren und vorrichtung zur bestimmung eines höhenwinkelfehlers eines mehrstrahligen radar-sensors |
Country Status (5)
Country | Link |
---|---|
US (1) | US6476760B1 (de) |
EP (1) | EP1118020A1 (de) |
JP (1) | JP2003506720A (de) |
DE (1) | DE19937723C2 (de) |
WO (1) | WO2001011385A1 (de) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1850150A1 (de) * | 2006-04-27 | 2007-10-31 | Omron Corporation | Radargerät |
WO2008071476A1 (de) * | 2006-12-11 | 2008-06-19 | Robert Bosch Gmbh | Verfahren zur erkennung einer vertikalen fehlausrichtung eines radarsensors |
Families Citing this family (22)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE10019182A1 (de) * | 2000-04-17 | 2001-10-25 | Bosch Gmbh Robert | Verfahren und Vorrichtung zum Ermitteln einer Fehlausrichtung der Strahlungscharakteristik eines Sensors zur Geschwindigkeits- und Abstandsregelung eines Fahrzeugs |
GB2363016A (en) * | 2000-05-31 | 2001-12-05 | Roke Manor Research | Automotive radar |
JP4740449B2 (ja) * | 2000-12-27 | 2011-08-03 | 富士通テン株式会社 | 車載用レーダの上下軸ずれ検出装置 |
JP3893912B2 (ja) * | 2001-07-18 | 2007-03-14 | 株式会社日立製作所 | 車両制御装置 |
JP3988571B2 (ja) * | 2001-09-17 | 2007-10-10 | 株式会社デンソー | レーダ装置 |
US6628227B1 (en) * | 2002-07-23 | 2003-09-30 | Ford Global Technologies, Llc | Method and apparatus for determining a target vehicle position from a source vehicle using a radar |
JP4313089B2 (ja) * | 2003-05-23 | 2009-08-12 | 富士通テン株式会社 | 自動車用レーダ装置およびその取付方向調整方法 |
JP2005043080A (ja) * | 2003-07-23 | 2005-02-17 | Fujitsu Ten Ltd | 車両用レーダの取付方法、及び車両用レーダ |
JP4109679B2 (ja) * | 2005-02-07 | 2008-07-02 | 三菱電機株式会社 | 車載用レーダの電波軸調整装置 |
JP2008209321A (ja) * | 2007-02-27 | 2008-09-11 | Fujitsu Ltd | 探知測距装置および探知測距プログラム |
DE102008054579B4 (de) | 2008-12-12 | 2022-10-13 | Robert Bosch Gmbh | Dejustageerkennung für einen Radarsensor |
CN101788659B (zh) * | 2009-01-22 | 2013-04-03 | 株式会社万都 | 调整传感器垂直对准的装置和传感器 |
DE102011079522A1 (de) * | 2011-07-21 | 2013-01-24 | Robert Bosch Gmbh | Erkennung einer dejustage eines radarsensors eines fahrzeugs |
DE102013209530A1 (de) * | 2013-05-23 | 2014-11-27 | Robert Bosch Gmbh | Bestimmung eines elevations-dejustagewinkels eines radarsensors eines kraftfahrzeugs |
ES2701326T3 (es) * | 2013-07-10 | 2019-02-21 | Bae Systems Plc | Anulación de interferencias de señales multitrayectoria en un radar de impulsos de haces apilados |
DE102014208899A1 (de) | 2014-05-12 | 2015-11-12 | Robert Bosch Gmbh | Verfahren zur Kalibrierung eines MIMO-Radarsensors für Kraftfahrzeuge |
DE102014223461A1 (de) | 2014-11-18 | 2016-05-19 | Robert Bosch Gmbh | Verfahren und Vorrichtung zum Ermitteln von Dejustagewinkeln eines Radarsystems |
US20160223649A1 (en) * | 2015-01-30 | 2016-08-04 | Robert Bosch Gmbh | Systems and methods for radar vertical misalignment detection |
US10444341B2 (en) * | 2017-03-06 | 2019-10-15 | GM Global Technology Operations LLC | Road clutter mitigation |
DE102017207876A1 (de) | 2017-05-10 | 2018-11-15 | Robert Bosch Gmbh | Parallelisierte Verarbeitung |
EP3770632A1 (de) * | 2019-07-25 | 2021-01-27 | VEGA Grieshaber KG | Kombinierte radarsensoren mit einem radarensor zur füllstandsmessung und einem radasensor zur umgebungsüberwachung |
CN113359098B (zh) * | 2021-06-25 | 2022-09-02 | 北京无线电测量研究所 | 多雷达惯导误差补偿方法、系统、存储介质及电子设备 |
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WO1997020229A1 (de) * | 1995-11-24 | 1997-06-05 | Robert Bosch Gmbh | Radarsystem, insbesondere kraftfahrzeug-radarsystem |
WO1997040400A1 (fr) * | 1996-04-22 | 1997-10-30 | The Furukawa Electric Co., Ltd. | Radar |
EP0809118A1 (de) * | 1996-05-20 | 1997-11-26 | Delco Electronics Corporation | Breitbandiges Dauerstrichradar zum genauen Messen von Abständen |
DE19650863C1 (de) * | 1996-12-07 | 1998-04-16 | Bosch Gmbh Robert | Verfahren und Vorrichtung zur Erkennung einer vertikalen Dejustierung eines Abstandssensors |
DE19748604A1 (de) * | 1997-11-04 | 1999-05-06 | Bosch Gmbh Robert | Verfahren zur Bestimmung eines Seiten- und/oder eines Höhenwinkels bei einem mehrstrahligen Radarsystem |
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FR2629922B1 (fr) * | 1982-12-30 | 1990-10-12 | Thomson Csf | Procede de traitement instantane du bruit de scintillation angulaire et recepteur radar monopulse de poursuite mettant en oeuvre un tel procede |
US4564935A (en) * | 1984-01-10 | 1986-01-14 | The United States Of America As Represented By The Secretary Of The Air Force | Tropospheric scatter communication system having angle diversity |
US5371506A (en) * | 1993-07-19 | 1994-12-06 | General Electric Co. | Simultaneous multibeam approach for cancelling multiple mainlobe jammers while preserving monopulse angle estimation accuracy on mainlobe targets |
JP4258941B2 (ja) * | 1999-06-03 | 2009-04-30 | 株式会社デンソー | レーダ装置 |
-
1999
- 1999-08-10 DE DE19937723A patent/DE19937723C2/de not_active Expired - Fee Related
-
2000
- 2000-07-21 US US09/807,196 patent/US6476760B1/en not_active Expired - Fee Related
- 2000-07-21 JP JP2001515987A patent/JP2003506720A/ja not_active Withdrawn
- 2000-07-21 EP EP00956092A patent/EP1118020A1/de not_active Withdrawn
- 2000-07-21 WO PCT/DE2000/002371 patent/WO2001011385A1/de not_active Application Discontinuation
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
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WO1997020229A1 (de) * | 1995-11-24 | 1997-06-05 | Robert Bosch Gmbh | Radarsystem, insbesondere kraftfahrzeug-radarsystem |
WO1997040400A1 (fr) * | 1996-04-22 | 1997-10-30 | The Furukawa Electric Co., Ltd. | Radar |
US5959571A (en) * | 1996-04-22 | 1999-09-28 | The Furukawa Electric Co., Ltd. | Radar device |
EP0809118A1 (de) * | 1996-05-20 | 1997-11-26 | Delco Electronics Corporation | Breitbandiges Dauerstrichradar zum genauen Messen von Abständen |
DE19650863C1 (de) * | 1996-12-07 | 1998-04-16 | Bosch Gmbh Robert | Verfahren und Vorrichtung zur Erkennung einer vertikalen Dejustierung eines Abstandssensors |
DE19748604A1 (de) * | 1997-11-04 | 1999-05-06 | Bosch Gmbh Robert | Verfahren zur Bestimmung eines Seiten- und/oder eines Höhenwinkels bei einem mehrstrahligen Radarsystem |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1850150A1 (de) * | 2006-04-27 | 2007-10-31 | Omron Corporation | Radargerät |
US7576838B2 (en) | 2006-04-27 | 2009-08-18 | Omron Corporation | Radar device |
WO2008071476A1 (de) * | 2006-12-11 | 2008-06-19 | Robert Bosch Gmbh | Verfahren zur erkennung einer vertikalen fehlausrichtung eines radarsensors |
Also Published As
Publication number | Publication date |
---|---|
EP1118020A1 (de) | 2001-07-25 |
DE19937723C2 (de) | 2001-10-04 |
JP2003506720A (ja) | 2003-02-18 |
DE19937723A1 (de) | 2001-03-29 |
US6476760B1 (en) | 2002-11-05 |
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