CN110572192A - Frequency avoidance method and device for low-earth-orbit satellite - Google Patents
Frequency avoidance method and device for low-earth-orbit satellite Download PDFInfo
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- CN110572192A CN110572192A CN201910830721.8A CN201910830721A CN110572192A CN 110572192 A CN110572192 A CN 110572192A CN 201910830721 A CN201910830721 A CN 201910830721A CN 110572192 A CN110572192 A CN 110572192A
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- 238000004891 communication Methods 0.000 abstract description 21
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- 238000012986 modification Methods 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
- B64G1/244—Spacecraft control systems
- B64G1/245—Attitude control algorithms for spacecraft attitude control
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/02—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas
- H04B7/04—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas
- H04B7/0408—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas using two or more beams, i.e. beam diversity
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/1851—Systems using a satellite or space-based relay
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Abstract
the invention discloses a frequency avoiding method and a frequency avoiding device for a low-orbit satellite, wherein one implementation mode of the method comprises the following steps: controlling the switch state of each beam in a plurality of beams of the low-orbit satellite through the switch matrix of the low-orbit satellite to adjust the first beam coverage range of the low-orbit satellite, so that the beams of the low-orbit satellite avoid the interference on the beams of the high-orbit satellite; and controlling the switch state of each beam in the plurality of beams of other low orbit satellites in the same constellation through the switch matrixes of the other low orbit satellites to adjust the coverage range of the second beam of the other low orbit satellites, so that the coverage range of the second beam is matched with the coverage range of the first beam to meet the requirement of beam coverage. The embodiment makes the satellite communication system independent of the satellite attitude control system; and the frequency evading method for controlling the wave beam based on the switch matrix enables the wave beam to be used more flexibly, and reduces the difficulty of a mission planning algorithm.
Description
Technical Field
The present invention relates to the field of satellite communications. And more particularly, to a frequency avoidance method and apparatus for low earth orbit satellites.
Background
In order to provide users with larger capacity and higher rate communication services, the communication frequency of satellite communication has to select a higher frequency band to meet the communication requirement of larger bandwidth and faster rate. To fully utilize frequency Orbit resources and provide a communication experience closer to the ground network, LEO (Low Earth Orbit) satellite communication is a good choice. However, due to the orbital position relationship between the high-Orbit Satellite communication system (including GSO Satellite system, Geostationary Earth Orbit Satellite system and NGSO Satellite system, Non-Geostationary Orbit Satellite system) and the LEO communication constellation system and the scarcity of frequency resources, the Satellite operator has to face and solve the problem of frequency interference between different constellation systems. When a low earth orbit satellite is operating under a high earth orbit satellite, if the frequencies of the low earth orbit satellite and the high earth orbit satellite are the same, the signal communicated between the low earth orbit satellite and the ground station becomes a potential interference signal for the high earth orbit satellite communication, as shown in fig. 1.
in order to realize effective and safe frequency band sharing between an LEO communication constellation system and other high-orbit satellite communication systems, an LEO satellite needs to adjust its own attitude to bias a communication beam to achieve the purpose of avoiding the high-orbit satellite beam, as shown in fig. 2.
Although the purpose of avoiding the frequency of the high-orbit satellite can be achieved by adjusting the satellite attitude to change the communication coverage and the beam direction, the use problems of two aspects are brought. Firstly, when frequency avoidance is carried out, a satellite needs to be matched with a GNC (guidance Navigation and Control, GNC for short) subsystem, so that the satellite GNC subsystem and a communication system are coupled to work; secondly, along with the adjustment of the satellite attitude, all the wave beams fixedly connected with the satellite body are linked together, and the use of the wave beams is lack of flexibility.
Therefore, there is a need to provide an improved frequency avoidance method.
Disclosure of Invention
The invention aims to provide a frequency avoidance method and device for a low-orbit satellite, so as to solve at least one of the problems in the prior art.
In order to achieve the purpose, the invention adopts the following technical scheme:
The invention provides a frequency avoiding method for a low-orbit satellite, which comprises the following steps: controlling the switch state of each beam in a plurality of beams of a low-orbit satellite through a switch matrix of the low-orbit satellite to adjust the first beam coverage range of the low-orbit satellite so that the beams of the low-orbit satellite avoid the interference on the beams of the high-orbit satellite; and controlling the switch state of each beam in the plurality of beams of other low orbit satellites in the same constellation through the switch matrixes of the other low orbit satellites to adjust the second beam coverage range of the other low orbit satellites, so that the second beam coverage range is matched with the first beam coverage range to meet the beam coverage requirement.
Optionally, before the controlling the switching state of each of the plurality of beams of the low earth satellite through the switching matrix of the low earth satellite, the method further includes the steps of: and according to the beam coverage range when the attitude pitching of the low-orbit satellite reaches the maximum, arranging a plurality of antennas on the low-orbit satellite, so that the beam coverage range of the low-orbit satellite is larger than or equal to the beam coverage range when the attitude pitching of the low-orbit satellite reaches the maximum when all the antennas are started.
a second aspect of the present invention provides a frequency avoiding apparatus for a low earth orbit satellite, including: the switch matrix is used for controlling the switch state of each antenna beam so as to adjust the first beam coverage range of the low-orbit satellite and enable the beam of the low-orbit satellite to avoid the interference on the beam of the high-orbit satellite.
optionally, the plurality of antennas are set to have a beam coverage of the low-earth satellite when all the antennas are turned on, which is greater than or equal to a beam coverage of the low-earth satellite when the attitude pitch of the low-earth satellite is maximized.
Optionally, at least one of the plurality of antennas is provided with an independent switch.
Optionally, each of the plurality of antennas is provided with an independent switch.
Optionally, the number of the antennas is 24.
The invention has the following beneficial effects:
The technical scheme of the invention can decouple the satellite frequency evasion from the satellite attitude control system, so that the satellite communication system does not depend on the satellite attitude control system; and the frequency evading method for controlling the wave beams based on the switch matrix enables the wave beams to be used more flexibly, the pointing relation among the wave beams is independent rather than follow-up, the flexibility of the wave beams is improved, and the difficulty of a task planning algorithm is reduced.
Drawings
the following describes embodiments of the present invention in further detail with reference to the accompanying drawings;
FIG. 1 is a diagram illustrating frequency interference between low and high orbit satellites;
FIG. 2 shows a schematic diagram of a frequency avoidance method based on low-earth orbit satellite attitude adjustment;
FIG. 3 shows a schematic diagram of a frequency avoidance method of one embodiment of the present invention;
FIG. 4 is a diagram illustrating low-orbit satellite beam arrangements according to one embodiment;
FIG. 5 is a schematic diagram of a low-earth orbit satellite beam arrangement according to an embodiment of the invention;
FIG. 6 is a schematic diagram of a low-earth orbit satellite beam arrangement according to yet another embodiment of the invention;
Detailed Description
In order to more clearly illustrate the invention, the invention is further described below with reference to preferred embodiments and the accompanying drawings. Similar parts in the figures are denoted by the same reference numerals. It is to be understood by persons skilled in the art that the following detailed description is illustrative and not restrictive, and is not to be taken as limiting the scope of the invention.
The frequency avoidance by adjusting the satellite attitude is to make the antenna beam of the satellite point to a direction different from that of the antenna beam of the high-orbit satellite by adjusting the attitude of the low-orbit satellite, thereby achieving the purpose of avoiding the frequency of the high-orbit satellite.
One embodiment of the invention provides a frequency avoidance method for a low-orbit satellite, which comprises the following steps:
Controlling the switch state of each beam in a plurality of beams of the low-orbit satellite through the switch matrix of the low-orbit satellite to adjust the first beam coverage range of the low-orbit satellite, so that the beams of the low-orbit satellite avoid the interference on the beams of the high-orbit satellite;
And controlling the switch state of each beam in the plurality of beams of other low orbit satellites in the same constellation through the switch matrixes of the other low orbit satellites to adjust the coverage range of the second beam of the other low orbit satellites, so that the coverage range of the second beam is matched with the coverage range of the first beam to meet the requirement of beam coverage.
as shown in fig. 3, for example, when the low-earth orbit satellite is located below the high-earth orbit satellite, the antenna beam frequencies of the low-earth orbit satellite and the antenna beam directions of the high-earth orbit satellite are the same or similar and the beams are the same or similar, and interference occurs between the low-earth orbit satellite and the antenna beams, the switch state of each beam of the low-earth orbit satellite can be controlled by using the switch matrix, the first beam coverage range of the low-earth orbit satellite is adjusted to direct the beam to a region different from the beam coverage range of the high-earth orbit satellite, and the low-earth orbit satellite is not required to perform attitude adjustment, so that the communication system of the low-earth orbit satellite can be decoupled from the attitude control system, and the satellite communication system is not dependent on the satellite attitude control system, thereby avoiding the change of the directions and coverage ranges of other antennas (such as inter-; and the frequency evading method for controlling the wave beams based on the switch matrix enables the wave beams to be used more flexibly, the pointing relation among the wave beams is independent rather than follow-up, the flexibility of the wave beams is improved, and the difficulty of a task planning algorithm is reduced.
when the beam of the low-orbit satellite points to other areas, the area originally covered by the beam of the low-orbit satellite lacks the coverage of the beam of the low-orbit satellite or the beam coverage does not meet the requirement any more, at the moment, the switch state of each beam in the beams of the other satellites is controlled by the switch matrix of the other low-orbit satellite in the same constellation, and the coverage range of the second beam of the other low-orbit satellite is adjusted to be matched with the coverage range of the first beam so as to meet the beam coverage requirement.
the other low-orbit satellite may refer to one or more other low-orbit satellites. When the satellite is pointed to another low-orbit satellite, the second beam coverage range is the beam coverage range of the other low-orbit satellite, and the second beam coverage range of the other low-orbit satellite is matched with the first beam coverage range to meet the beam coverage requirement; when the satellite is referred to other low-orbit satellites, the switch states of the beams of the other low-orbit satellites are required to be controlled through the switch matrixes of the other low-orbit satellites, the second beam coverage range is a union of the beam coverage ranges of the other low-orbit satellites, and the second beam coverage ranges of the other low-orbit satellites are matched with the first beam coverage range to meet the beam coverage requirement. Therefore, even if the original beam direction of the low-orbit satellite is changed, the beam coverage requirement can be met, the beam of the high-orbit satellite is successfully avoided, and the superiority of a low-orbit satellite constellation comprising a plurality of satellites is fully exerted.
the beam coverage requirement may be set as needed, for example, the requirement may be for performing full beam coverage on the service area, or the requirement may be for overlap ratio of beam coverage in a certain area, which is not limited herein.
optionally, when avoiding the frequency of the high-orbit satellite, a plurality of low-orbit satellites of the same constellation may be grouped into one group, for example, two or three low-orbit satellites may be grouped, and the beam of each low-orbit satellite of the same group may be covered in a crossed manner. For example, when frequency avoidance is performed, a group of two low-orbit satellites may direct a beam of a first low-orbit satellite to an original beam coverage of a second low-orbit satellite, and direct a beam of the second low-orbit satellite to an original beam coverage of the first low-orbit satellite; if a group includes more than three low-orbit satellites, each low-orbit satellite can be numbered sequentially, the beam of each low-orbit satellite points to the beam coverage of the next low-orbit satellite, the numbering rule and the beam pointing rule of each low-orbit satellite when the frequency is avoided are not limited, and a person skilled in the art can set the numbering rules according to needs.
As an alternative embodiment, before controlling the switch state of each beam in the plurality of beams of the low earth orbit satellite through the switch matrix of the low earth orbit satellite, the method further comprises the following steps: and according to the beam coverage range when the attitude pitching of the low-orbit satellite reaches the maximum, arranging a plurality of antennas on the low-orbit satellite, so that the beam coverage range of the low-orbit satellite when the antennas are all started is larger than or equal to the beam coverage range when the attitude pitching of the low-orbit satellite reaches the maximum. That is, the range that the beam of the low earth orbit satellite antenna can cover is greater than or equal to the maximum beam coverage range generated by the attitude adjustment, so that the same beam coverage range as the attitude adjustment can be generated even when the low earth orbit satellite does not perform the attitude adjustment.
Another embodiment of the present invention provides a frequency avoiding apparatus for a low earth orbit satellite, including: the switch matrix is used for controlling the switch state of each antenna beam so as to adjust the first beam coverage range of the low-orbit satellite and enable the beam of the low-orbit satellite to avoid the interference on the beam of the high-orbit satellite.
The beam coverage requirement is met by arranging a switch matrix and a plurality of antennas on each low-orbit satellite and by the mutual cooperation of the beam coverage range between at least two low-orbit satellites of the same constellation.
As an alternative embodiment, the plurality of antennas are set such that the beam coverage of the low-earth satellite is greater than or equal to the beam coverage of the low-earth satellite when the attitude elevation of the low-earth satellite is maximized when all of the plurality of antennas are turned on.
As an alternative embodiment, at least one of the plurality of antennas is provided with an independent switch. The switches of the multiple antennas may be set according to needs, for example, each antenna may be provided with an independent switch, two or three antennas may share one switch, or one switch may control two or more antennas, which is not limited herein. Preferably, each of the plurality of antennas is provided with an independent switch, so that the switching control of the plurality of antennas can be more flexible, and the beam coverage can be more accurately controlled.
As an alternative embodiment, the number of antennas is 24.
as a specific example, taking 16 long-bar beams required for normal communication of a single satellite as an example, the arrangement of the 16 long-bar beams of the satellite is shown in fig. 4. According to the frequency avoiding method based on the switch matrix, the number of antenna beams of the low earth orbit satellite is expanded to 24, the coverage range of the 24 beams is the coverage range of 16 beams when the satellite attitude pitch reaches the maximum, the number of power amplifiers configured by the satellite keeps 16 unchanged, and the communication relation between the 16 power amplifiers and the 24 antennas is controlled through the switch matrix, so that the purpose of independent switch operation on any antenna is achieved (the number of the beams which are simultaneously opened does not exceed 16, and therefore the energy design of the satellite is not influenced). When the satellite is in a normal working state, the middle 16 beams are kept on, and the two side beams are kept in a closed state, as shown in fig. 5.
When the low-orbit satellite needs to carry out frequency avoidance on the high-orbit satellite, the satellite beams can be flexibly directed to other areas through the switch setting of the switch matrix, so that the satellite does not need attitude pitching, the same frequency avoidance effect as 16 beams and attitude pitching can be realized, and meanwhile, the beams of other low-orbit satellites are directed to the original beam coverage range of the low-orbit satellite so as to meet the beam coverage requirement. The satellite beam switch area during frequency avoidance is shown in fig. 6, so that the purpose of frequency avoidance by controlling the coverage of the antenna beam through the switch matrix is achieved.
It is further noted that, in the description of the present invention, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
It should be understood that the above-mentioned embodiments of the present invention are only examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention, and it will be obvious to those skilled in the art that other variations and modifications can be made on the basis of the above description, and all embodiments cannot be exhaustive, and all obvious variations and modifications belonging to the technical scheme of the present invention are within the protection scope of the present invention.
Claims (7)
1. A frequency avoiding method for a low-earth orbit satellite is characterized by comprising the following steps:
Controlling the switch state of each beam in a plurality of beams of a low-orbit satellite through a switch matrix of the low-orbit satellite to adjust the first beam coverage range of the low-orbit satellite so that the beams of the low-orbit satellite avoid the interference on the beams of the high-orbit satellite;
And controlling the switch state of each beam in the plurality of beams of other low orbit satellites in the same constellation through the switch matrixes of the other low orbit satellites to adjust the second beam coverage range of the other low orbit satellites, so that the second beam coverage range is matched with the first beam coverage range to meet the beam coverage requirement.
2. The method of claim 1, further comprising, prior to said controlling the switching state of each of the plurality of beams of the low earth satellite via the switching matrix of the low earth satellite, the steps of:
And according to the beam coverage range when the attitude pitching of the low-orbit satellite reaches the maximum, arranging a plurality of antennas on the low-orbit satellite, so that the beam coverage range of the low-orbit satellite is larger than or equal to the beam coverage range when the attitude pitching of the low-orbit satellite reaches the maximum when all the antennas are started.
3. a frequency avoiding device for a low earth orbit satellite is characterized by comprising:
The switch matrix is used for controlling the switch state of each antenna beam so as to adjust the first beam coverage range of the low-orbit satellite and enable the beam of the low-orbit satellite to avoid the interference on the beam of the high-orbit satellite.
4. The apparatus of claim 3,
the plurality of antennas are set such that the beam coverage of the low-earth satellite when all of the plurality of antennas are on is greater than or equal to the beam coverage when the attitude pitch of the low-earth satellite is at a maximum.
5. the apparatus of claim 3,
At least one of the plurality of antennas is provided with an independent switch.
6. the apparatus of claim 3 or 5,
Each of the plurality of antennas is provided with an independent switch.
7. the apparatus of claim 3,
The number of the antennas is 24.
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| CN201910830721.8A CN110572192A (en) | 2019-09-04 | 2019-09-04 | Frequency avoidance method and device for low-earth-orbit satellite |
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| CN201910830721.8A CN110572192A (en) | 2019-09-04 | 2019-09-04 | Frequency avoidance method and device for low-earth-orbit satellite |
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Cited By (11)
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| CN111147127A (en) * | 2019-12-27 | 2020-05-12 | 东方红卫星移动通信有限公司 | Global single coverage and frequency reuse algorithm for low earth orbit satellite constellation |
| CN111884702A (en) * | 2020-06-12 | 2020-11-03 | 航天科工空间工程发展有限公司 | Design method, device and system of low-earth-orbit satellite communication signaling device |
| CN112124626A (en) * | 2020-08-27 | 2020-12-25 | 中国人民解放军战略支援部队航天工程大学 | Walker constellation configuration maintaining method and terminal equipment |
| CN112947529A (en) * | 2021-03-25 | 2021-06-11 | 航天科工空间工程发展有限公司 | Low-orbit communication satellite attitude maneuver path planning method for avoiding frequency interference |
| CN113067651A (en) * | 2021-03-19 | 2021-07-02 | 哈尔滨工业大学 | Inter-constellation interference detection method for low-orbit satellite system |
| CN113131986A (en) * | 2019-12-31 | 2021-07-16 | 大唐移动通信设备有限公司 | Satellite beam bias processing method, device and medium |
| CN113433575A (en) * | 2021-07-16 | 2021-09-24 | 中科航宇(广州)科技有限公司 | Method, device, equipment and system for positioning radiation source and storage medium |
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| CN114449437A (en) * | 2020-10-20 | 2022-05-06 | 大唐移动通信设备有限公司 | Interference processing method, device and equipment and readable storage medium |
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Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111147127A (en) * | 2019-12-27 | 2020-05-12 | 东方红卫星移动通信有限公司 | Global single coverage and frequency reuse algorithm for low earth orbit satellite constellation |
| CN111147127B (en) * | 2019-12-27 | 2021-09-21 | 东方红卫星移动通信有限公司 | Global single coverage and frequency reuse algorithm for low earth orbit satellite constellation |
| CN113131986A (en) * | 2019-12-31 | 2021-07-16 | 大唐移动通信设备有限公司 | Satellite beam bias processing method, device and medium |
| CN113556161B (en) * | 2020-04-26 | 2024-11-12 | 中国电信股份有限公司 | Beam control method, low-orbit satellite, low-orbit satellite system and storage medium |
| CN113556161A (en) * | 2020-04-26 | 2021-10-26 | 中国电信股份有限公司 | Beam steering method, low-orbit satellite, low-orbit satellite system and storage medium |
| CN111884702B (en) * | 2020-06-12 | 2021-11-30 | 航天科工空间工程发展有限公司 | Design method, device and system of low-earth-orbit satellite communication signaling device |
| CN111884702A (en) * | 2020-06-12 | 2020-11-03 | 航天科工空间工程发展有限公司 | Design method, device and system of low-earth-orbit satellite communication signaling device |
| CN112124626A (en) * | 2020-08-27 | 2020-12-25 | 中国人民解放军战略支援部队航天工程大学 | Walker constellation configuration maintaining method and terminal equipment |
| CN112124626B (en) * | 2020-08-27 | 2022-02-15 | 中国人民解放军战略支援部队航天工程大学 | A kind of Walker constellation configuration maintenance method and terminal device |
| CN114449437A (en) * | 2020-10-20 | 2022-05-06 | 大唐移动通信设备有限公司 | Interference processing method, device and equipment and readable storage medium |
| CN114449437B (en) * | 2020-10-20 | 2023-05-09 | 大唐移动通信设备有限公司 | Interference processing method, device, equipment and readable storage medium |
| CN113067651A (en) * | 2021-03-19 | 2021-07-02 | 哈尔滨工业大学 | Inter-constellation interference detection method for low-orbit satellite system |
| CN113067651B (en) * | 2021-03-19 | 2023-01-31 | 哈尔滨工业大学 | Inter-constellation Interference Detection Method for LEO Satellite System |
| CN112947529B (en) * | 2021-03-25 | 2022-11-25 | 航天科工空间工程发展有限公司 | Low-orbit communication satellite attitude maneuver path planning method for avoiding frequency interference |
| CN112947529A (en) * | 2021-03-25 | 2021-06-11 | 航天科工空间工程发展有限公司 | Low-orbit communication satellite attitude maneuver path planning method for avoiding frequency interference |
| CN113433575A (en) * | 2021-07-16 | 2021-09-24 | 中科航宇(广州)科技有限公司 | Method, device, equipment and system for positioning radiation source and storage medium |
| CN113433575B (en) * | 2021-07-16 | 2024-05-31 | 广东省南方航天港科技有限公司 | Method, device, equipment, system and storage medium for positioning radiation source |
| CN113791430A (en) * | 2021-09-10 | 2021-12-14 | 上海卫星工程研究所 | Method for expanding measurement and control coverage area of assembly |
| CN113890595B (en) * | 2021-11-02 | 2022-06-28 | 广州爱浦路网络技术有限公司 | Spectrum-based satellite control method, computer device and storage medium |
| CN113890595A (en) * | 2021-11-02 | 2022-01-04 | 广州爱浦路网络技术有限公司 | Spectrum-based satellite control method, computer device and storage medium |
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Inventor after: Gao Mingyang Inventor after: Rao Jianbing Inventor after: Xiang Kaiheng Inventor after: Zhao Shuge Inventor after: Gao Lichun Inventor after: Zhang Nan Inventor after: Xu Han Inventor before: Gao Mingyang Inventor before: Rao Jianbing Inventor before: Xiang Kaiheng Inventor before: Zhao Shuge Inventor before: Gao Lichun Inventor before: Zhang Nan Inventor before: Xu Han |
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Application publication date: 20191213 |