[go: up one dir, main page]

WO2020115745A1 - Système et procédés de détection de véhicule - Google Patents

Système et procédés de détection de véhicule Download PDF

Info

Publication number
WO2020115745A1
WO2020115745A1 PCT/IL2019/051327 IL2019051327W WO2020115745A1 WO 2020115745 A1 WO2020115745 A1 WO 2020115745A1 IL 2019051327 W IL2019051327 W IL 2019051327W WO 2020115745 A1 WO2020115745 A1 WO 2020115745A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
electromagnetic radiation
identifying
emitted
detecting
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
PCT/IL2019/051327
Other languages
English (en)
Inventor
Leor Hardy
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.)
Individual
Original Assignee
Individual
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
Priority claimed from IL269217A external-priority patent/IL269217B/en
Application filed by Individual filed Critical Individual
Priority to DE112019006014.7T priority Critical patent/DE112019006014T5/de
Priority to US17/289,081 priority patent/US12013213B2/en
Priority to GB2105719.5A priority patent/GB2593064B/en
Publication of WO2020115745A1 publication Critical patent/WO2020115745A1/fr
Anticipated expiration legal-status Critical
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
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0205—Details
    • G01S5/0226—Transmitters
    • 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
    • G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
    • G01S11/02—Systems for determining distance or velocity not using reflection or reradiation using radio waves
    • G01S11/06—Systems for determining distance or velocity not using reflection or reradiation using radio waves using intensity 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
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0205—Details
    • 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
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0205—Details
    • G01S5/021—Calibration, monitoring or correction
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41H—ARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
    • F41H11/00—Defence installations; Defence devices
    • F41H11/02—Anti-aircraft or anti-guided missile or anti-torpedo defence installations or 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
    • G01S2205/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S2205/01—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations specially adapted for specific applications
    • 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
    • G01S2205/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S2205/01—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations specially adapted for specific applications
    • G01S2205/03—Airborne
    • 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
    • G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
    • G01S3/02—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
    • G01S3/14—Systems for determining direction or deviation from predetermined direction
    • G01S3/28—Systems for determining direction or deviation from predetermined direction using amplitude comparison of signals derived simultaneously from receiving antennas or antenna systems having differently-oriented directivity characteristics
    • G01S3/30—Systems for determining direction or deviation from predetermined direction using amplitude comparison of signals derived simultaneously from receiving antennas or antenna systems having differently-oriented directivity characteristics derived directly from separate directional systems

Definitions

  • the present invention relates to surveillance systems for monitoring unmanned or manned aerial, land, or sea vehicles and in particular to methods and systems for remote vehicle detection.
  • UV small unmanned
  • clusters of such devices to attack domestic targets or to inflict similar acts of aggression or espionage or disruption will increase in the coming years.
  • the ability to warn against an incoming vehicle attack will therefore be increasingly important.
  • the desired warning distance may be from at least one kilometer, in all lighting (including arrival from the direction of the sun) in all weather conditions, in smoke, dust and sand storm conditions.
  • These requirements pose serious problems for possible solutions such as optical, thermal, acoustic and even radar detection.
  • the word drone will be used meaning any kind of small unmanned aerial vehicle, or UAV.
  • UV refers to drones and other unmanned vehicles including, but not limited to: cars, ships and mobile robots.
  • Embodiments of the present invention provide methods and systems for detecting unmanned and manned vehicles, typically where the vehicle is entering a restricted area.
  • the method may include: operating a first vehicle and measuring multiple frequencies of electromagnetic radiation emitted from the first vehicle at a test distance; determining, from the multiple frequencies of emitted electromagnetic radiation, one or more identifying electromagnetic radiation characteristics, wherein the one or more identifying characteristics include one or more modulation frequencies of one or more electromagnetic carrier frequencies, or carrier frequencies without modulation; and configuring a radio receiver to detect the one or more identifying electromagnetic radiation characteristics at a distance of a detection range; and, detecting by the electromagnetic receiver, from a distance of the detection range.
  • the electromagnetic radiation emitted from the first vehicle may be measured at a test range
  • configuring the radio receiver to detect the one or more identifying electromagnetic radiation characteristics at the distance of the detection range includes configured the radio receiver to detect the radiation emitted by the second vehicle at a power level reduced from a power level detected at the test range by a factor proportional to the ratio of the test range to the detection range.
  • insulation of the closed environment may be employed to reduce electromagnetic radiation in a range of 30 MHz to 1.6 GHz and the multiple frequencies of electromagnetic radiation measured may be in the range of 30 MHz to 1.6 GHz.
  • the vehicle may be an unmanned aerial vehicle (UAV) and the detection range may be an air space perimeter of a restricted area.
  • UAV unmanned aerial vehicle
  • the electromagnetic receiver may include a multi-stage filter including a low- pass filter, a high pass filter, a 30 to 1600 MHz or wider amplifier and an analog-to-digital (A-to-D) converter and processing device.
  • a multi-stage filter including a low- pass filter, a high pass filter, a 30 to 1600 MHz or wider amplifier and an analog-to-digital (A-to-D) converter and processing device.
  • detecting the second vehicle may include issuing an electronic or audio security alert following the detection.
  • detecting the second vehicle may include determining at least one of a speed and a position of the second vehicle.
  • detecting the second vehicle includes triangulating the position of the vehicle.
  • Operating the first vehicle may include operating the first vehicle in a closed environment insulated to reduce external electromagnetic radiation.
  • a system for detecting intruding vehicles in a given airspace including: a radio antenna configured to receive electromagnetic radiation; and a defense control unit (DCU) including a radio receiver and a computer processor having associated memory storage including instructions that when executed by the computer processor implement steps of: receiving one or more identifying electromagnetic radiation characteristics of a first vehicle including one or more modulation frequencies of one or more electromagnetic carrier frequencies; detecting the one or more identifying electromagnetic radiation characteristics in electromagnetic radiation received by the radio antenna, wherein the electromagnetic radiation is emitted by a second vehicle at a distance of a detection range; and responsively issuing an alert to a defense system.
  • DCU defense control unit
  • FIG. 1 is a flow diagram, depicting a process of detecting vehicles, according to some embodiments of the present invention
  • Fig. 2 is a graph of a filtered electromagnetic signal, by a system for detecting vehicles, according to some embodiments of the present invention.
  • FIG. 3 is a schematic diagram of a system for detecting vehicles, according to some embodiments of the present invention.
  • Unmanned vehicles as well as manned vehicles (MVs) can be used for armed attacks, disruption of operations, and for espionage.
  • the term "restricted site” is used hereinbelow to refer to any site that may be the target of such attack or espionage and therefore needs a system of advanced warning of approaching UVs and MVs, particularly unmanned aerial vehicles (UAVs).
  • UAVs unmanned aerial vehicles
  • Such restricted sites may include civil infrastructure sites, businesses, residential areas, and agriculture areas, as well as government and military sites.
  • Fig. l is a flow diagram, depicting a process 100 of detecting incoming manned and unmanned vehicles, according to some embodiments of the present invention. Steps of the process 300 are as follows.
  • a test vehicle which may be designed for either manned or unmanned operation, may be operated in an anechoic chamber, that is, an electromagnetically insulated chamber that absorbs electromagnetic radiation, thereby reducing reflection waves, while also reducing the presence of external electromagnetic radiation.
  • Electromagnetic radiation at multiple frequencies is measured and recorded. Emissions of electromagnetic radiation may be due to several vehicle sources, such as emissions from device motors and from oscillators used as clocks in processors or as local oscillators (LO) in GPS and other receivers.
  • key frequencies are determined that are then used to "fingerprint" a given vehicle, that is, to determine identifying electromagnetic radiation characteristics.
  • a spectrograph may be used to scan a range of frequencies emitted by a vehicle, for example in a range of 30 MHz to 1.6 GHz, as well as frequencies that are at known oscillations, such as 1.6 GHz for a GPS receiver. Frequencies that have greater power levels than the background noise are then tested, for example by a machine learning algorithm, to determine if those frequencies include recognizable patterns, such as modulating frequencies or the frequency itself. Determining the fingerprint of a vehicle does not require testing it from a close distance, but the determination of identifying electromagnetic radiation characteristics is simplified when external noise is reduced.
  • the multiple measured frequencies are analyzed. For example, as indicated by graph 150 in Fig.
  • signal reception at a specific frequency from one vehicle was measured as -50 dBm, from a distance of 1 meter.
  • This power is equivalent to -110 dBm from a distance of one kilometer.
  • This level of signal power can be picked up by a superheterodyne or a direct demodulation radio receiver or by processing the raw data from an analog to digital converter.
  • the signal includes a recurring amplitude modulating frequency of 200 KHz, and therefore, although generally considered noise, it can be identified. Identifying characteristics such as cycle time and waveform can differentiate the signal from other signals at similar frequencies.
  • Oscillators used in a UAV can also be detected. Such radiation is described at "SGP-330 GPS RECEIVER Electromagnetic Emission - FCC MEASUREMENT REPORT," Samyung Inc., available at:
  • a GPS receiver emits radio frequency signals at levels near 40 dBpV/m. This power is equivalent to -45 dBpV/m from a distance of three meters and -105 dBpV/m from a distance of one kilometer. This level of power can be detected by a superheterodyne receiver.
  • the signal frequencies indicated in the article indicate the emission of harmonics of a 16MHz crystal.
  • the waveforms at the multiple measured frequencies may be analyzed by a machine learning system or by other systems to identify recurring patterns, and the most consistent patterns may be denoted as identifying characteristics.
  • Graph 150 indicates a sample of such an identifying characteristic, where a carrier frequency is modulated by a modulating frequency.
  • a radio receiver of a Defense Control Unit is configured to receive radio signals at the frequencies noted as including identifying characteristics.
  • the sensitivity of the radio receiver is configured to measure radiation at the diminished dBpV/m level required for detected intruding vehicles in a larger restricted area, such as 1 km or more.
  • the frequency range of the radio receiver may be set to a wide range according to the results determined at step 104. For example, a wideband radio receiver may be configured for receiving frequencies of 30 to 1600 MHz.
  • an antenna of the radio receiver is configured as four separate antennas, oriented in four perpendicular directions to provide a directional indication of incoming signals. Multiple antennas may be used to provide more precise coordinates of an incoming vehicle, for example by triangulation of results.
  • the radio receiver may include a field programmable gate array (FPGA), programmed to make multiple measurements, to facilitate calculation of multiple locations of an incoming vehicle, thereby also allowing calculation of incoming vehicle speed.
  • FPGA field programmable gate array
  • the DCU may be operated to protect a restricted area at a step 108. If an incoming vehicle, such as a UAV is detected, then, at a step 110, then the DCU may be configured to issue a warning alert to a defense system, such as a counter drone system.
  • the alert may include parameters such as vehicle position and speed.
  • the DCU may also identify multiple drones having similar or different identifying characteristics.
  • Fig. 2 is a schematic diagram, depicting components of a system 200 for detecting incoming vehicles, according to some embodiments of the present invention.
  • system 200 may also be configured to protect the area against illegitimate drones.
  • System 200 includes one or more antennas 204, which sense electromagnetic radiation emissions from an intruding vehicle, such as a drone 204. Electrical signals provided by the antennas 204 may then be processed by several cascaded filters, such as the following: a low-pass filter 208, a band-pass filter 210, and one or more broadband amplifiers 212 (such as LEE 39+ amplifiers). Filter output is then sampled by an analog-to- digital converter (ADC) 216, and then processed to detect identifying characteristics by a processor, such as a field programmable gate array 218.
  • ADC analog-to- digital converter
  • security alerts may be generated by the FPGA 218 and transmitted to a vehicle defense system 220.
  • the defense system may provide enemy vehicle interception mechanisms, such as net launchers, radio jammers, anti -drone drones, and/or lasers.
  • the defense system may also perform alternative or additional functions, such as issuing alarms to human operators and notifying external security forces.
  • the DCU may continue to send data to the defense system to permit on-going tracking of an incoming vehicle.
  • Processing of signals may also include processing multiple received data streams from multiple antennas, for example in order to triangulate a position of a UV (particularly UAV's). Processing may include processing streams to determine additional features of a UV incoming path, such as determining a position and speed of a drone, or identification of multiple incoming UVs in a pack.
  • all or part of a process and of a system implementing the process of the present invention may be implemented in digital electronic circuitry, or in computer hardware, firmware, software, or in combinations thereof. All or part of the process and system may be implemented as a computer program product, tangibly embodied in an information carrier, such as a machine-readable storage device or in a propagated signal, for execution by, or to control the operation of, data processing apparatus, such as a programmable processor, computer, or deployed to be executed on multiple computers at one website or distributed across multiple websites.
  • Memory storage may also include multiple distributed memory units, including one or more types of storage media. Examples of storage media include, but are not limited to, magnetic media, optical media, and integrated circuits.
  • a computer configured to implement the process may access, provide, transmit, receive, and modify information over wired or wireless networks.
  • the computing may have one or more processors and one or more network interface modules.
  • Processors may be configured as a multi-processing or distributed processing system.
  • Network interface modules may control the sending and receiving of data packets over networks.

Landscapes

  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

L'invention concerne un procédé et un système de détection de véhicules avec pilote et sans pilote pénétrant dans une zone limitée, comprenan : le fonctionnement d'un premier véhicule et la mesure de multiples fréquences de rayonnement électromagnétique émis par le premier véhicule; la détermination, à partir des fréquences multiples du rayonnement électromagnétique émis, d'une ou plusieurs caractéristiques de rayonnement électromagnétique d'identification; et la configuration d'un récepteur radio pour détecter la ou les caractéristiques de rayonnement électromagnétique d'identification émises par un second véhicule à une certaine distance d'une plage de détection.
PCT/IL2019/051327 2018-12-04 2019-12-04 Système et procédés de détection de véhicule Ceased WO2020115745A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
DE112019006014.7T DE112019006014T5 (de) 2018-12-04 2019-12-04 Fahrzeugerfassungssystem und -verfahren
US17/289,081 US12013213B2 (en) 2018-12-04 2019-12-04 Vehicle detection system and methods
GB2105719.5A GB2593064B (en) 2018-12-04 2019-12-04 Vehicle detection system and methods

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US201862774893P 2018-12-04 2018-12-04
US62/774,893 2018-12-04
IL269217A IL269217B (en) 2019-09-09 2019-09-09 Vehicle detection system and methods
IL269217 2019-09-09

Publications (1)

Publication Number Publication Date
WO2020115745A1 true WO2020115745A1 (fr) 2020-06-11

Family

ID=70974592

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IL2019/051327 Ceased WO2020115745A1 (fr) 2018-12-04 2019-12-04 Système et procédés de détection de véhicule

Country Status (1)

Country Link
WO (1) WO2020115745A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114755522A (zh) * 2022-04-22 2022-07-15 中国第一汽车股份有限公司 一种车辆测试方法及系统、电子设备

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20080309565A1 (en) * 2007-06-18 2008-12-18 Agc Automotive Americas R&D, Inc. Signal measurement system and method for testing an rf component
US20160124041A1 (en) * 2014-10-29 2016-05-05 Nokomis, Inc. Ultra-sensitive, ultra-low power rf field sensor
US9569959B1 (en) * 2012-10-02 2017-02-14 Rockwell Collins, Inc. Predictive analysis for threat detection
US20170192089A1 (en) * 2014-12-19 2017-07-06 Xidrone Systems, Inc. Deterent for unmanned aerial systems
US20180129882A1 (en) * 2016-11-08 2018-05-10 Dedrone Holdings, Inc. Systems, Methods, Apparatuses, and Devices for Identifying, Tracking, and Managing Unmanned Aerial Vehicles

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20080309565A1 (en) * 2007-06-18 2008-12-18 Agc Automotive Americas R&D, Inc. Signal measurement system and method for testing an rf component
US9569959B1 (en) * 2012-10-02 2017-02-14 Rockwell Collins, Inc. Predictive analysis for threat detection
US20160124041A1 (en) * 2014-10-29 2016-05-05 Nokomis, Inc. Ultra-sensitive, ultra-low power rf field sensor
US20170192089A1 (en) * 2014-12-19 2017-07-06 Xidrone Systems, Inc. Deterent for unmanned aerial systems
US20180129882A1 (en) * 2016-11-08 2018-05-10 Dedrone Holdings, Inc. Systems, Methods, Apparatuses, and Devices for Identifying, Tracking, and Managing Unmanned Aerial Vehicles

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114755522A (zh) * 2022-04-22 2022-07-15 中国第一汽车股份有限公司 一种车辆测试方法及系统、电子设备

Similar Documents

Publication Publication Date Title
Shi et al. Anti-drone system with multiple surveillance technologies: Architecture, implementation, and challenges
CN105842683B (zh) 一种无人机综合防御系统及方法
CN106932753B (zh) 反无人机被动探测和测向定位系统
US9658325B2 (en) Secondary surveillance radar signals as primary surveillance radar
US20170026860A1 (en) Device and method for detecting high wind weather events using radio emissions
Nguyen et al. Cost-effective and passive rf-based drone presence detection and characterization
US20100085241A1 (en) System and method for obstacle detection and warning
CN207797884U (zh) 一种用于机场的反无人机系统
KR102627763B1 (ko) 무선전파 방향탐지와 위치추적 및 위성항법 기만 기반의 하이브리드 드론 방어 시스템
Rahman et al. Unmanned aerial vehicle (UAV) GPS jamming test by using software defined radio (SDR) platform
US12013213B2 (en) Vehicle detection system and methods
Sun et al. Drone privacy shield: A WiFi based defense
WO2020115745A1 (fr) Système et procédés de détection de véhicule
Novák et al. Experiment demonstrating the possible impact of GNSS interference on instrument approach on RWY 06 LZZI
de Mello et al. SDR-based radar-detectors embedded on tablet devices
Yang et al. Architecture and challenges for low-altitude security system
Adami et al. HPM detection system for mobile and stationary use
Semenyuk et al. Advance and Refinement: The Evolution of UAV Detection and Classification Technologies
CN106382857A (zh) 一种无人机拦截方法及系统
WO2025109589A1 (fr) Détection de menace de signal de véhicule
Sinitsyn et al. Passive acoustic radar for aircraft trajectory tracking
Naganawa et al. Jamming and spoofing protection for ADS-B mode S receiver through array signal processing
Calvo-Palomino et al. LSTM-based GNSS Spoofing Detection Using Low-cost Spectrum Sensors
RU235268U1 (ru) Устройство обнаружения беспилотных летательных аппаратов на базе нелинейного радиолокатора
CN117572091B (zh) 一种机载侦测高性能小型化告警系统

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19892536

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 202105719

Country of ref document: GB

Kind code of ref document: A

Free format text: PCT FILING DATE = 20191204

122 Ep: pct application non-entry in european phase

Ref document number: 19892536

Country of ref document: EP

Kind code of ref document: A1