CN107026683A - A kind of MIMO FSO system adaptive based on space diversity - Google Patents
A kind of MIMO FSO system adaptive based on space diversity Download PDFInfo
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Abstract
本发明公开一种基于空间分集自适应的MIMO‑FSO系统,包括:发射端、接收端、自适应控制单元以及反馈链路单元;其中,发射端采用N条发射天线进行信息的发送,而接收端采用M条发射天线进行信息的接收;在接收端和发射端都设置有反馈链路和信道估计单元,反馈链路采用RF通信链路;自适应控制单元位于发射端,用于使得发射端可以根据反馈链路所得到的信道状态信息自适应的调节发射功率大小、信道编码长度和调制方式。采用本发明的技术方案,解决自由空间光通信系统在大气信道中性能较差,以及资源利用低的问题。
The invention discloses a MIMO-FSO system based on space diversity self-adaptation, comprising: a transmitting end, a receiving end, an adaptive control unit and a feedback link unit; wherein, the transmitting end uses N transmitting antennas to send information, and the receiving end The terminal adopts M transmitting antennas to receive information; both the receiving terminal and the transmitting terminal are provided with a feedback link and a channel estimation unit, and the feedback link adopts an RF communication link; the adaptive control unit is located at the transmitting terminal, and is used to make the transmitting terminal The transmission power, channel coding length and modulation mode can be adaptively adjusted according to the channel state information obtained from the feedback link. By adopting the technical solution of the invention, the problems of poor performance and low resource utilization of the free space optical communication system in the atmospheric channel are solved.
Description
技术领域technical field
本发明属于无线光通信(FSO)领域,尤其涉及一种基于空间分集自适应的MIMO-FSO系统。The invention belongs to the field of wireless optical communication (FSO), in particular to an adaptive MIMO-FSO system based on space diversity.
背景技术Background technique
随着科技的发展,社会的进步,人们已经进入了信息时代,对于高速便捷的互联网需求与日俱增。而采用激光作为光源的自由空间光通信系统以其保密性好、容量大、灵活性高等特点成为新时代无线通信领域研究的热点。虽然自由空间光通信被人们广泛关注,但其还存在一些急需解决的问题①传输速率受限,传输距离受限。②大气信道干扰误码率高。为了提高FSO的应用性和可靠性,必须采取克制大气效应的传输技术。With the development of science and technology and the progress of society, people have entered the information age, and the demand for high-speed and convenient Internet is increasing day by day. The free-space optical communication system using laser as light source has become a research hotspot in the field of wireless communication in the new era due to its characteristics of good confidentiality, large capacity, and high flexibility. Although free-space optical communication has been widely concerned by people, there are still some problems that need to be solved urgently. ①The transmission rate is limited and the transmission distance is limited. ②Atmospheric channel interference bit error rate is high. In order to improve the applicability and reliability of FSO, transmission technology that restrains atmospheric effects must be adopted.
1、自适应传输技术1. Adaptive transmission technology
自适应传输技术是指系统根据当前获取的信道信息,自适应地调整系统传输参数,通过采用自适应传输技术可以很好的提高数据传输速率和频谱利用率;通常自适应传输技术包括自适应调制和编码技术,功率控制技术等。Adaptive transmission technology means that the system adaptively adjusts system transmission parameters according to the currently acquired channel information, and the data transmission rate and spectrum utilization can be improved by adopting adaptive transmission technology; usually adaptive transmission technology includes adaptive modulation And coding technology, power control technology, etc.
自适应调节技术前提是发射端需要得到信道状态信息,这可以通过反馈链路给出。自适应调节的目的是最大化利用系统已有的资源,从数学模型角度上说是一种给定优化目标和约束条件的最优化问题。The premise of adaptive adjustment technology is that the transmitter needs to obtain channel state information, which can be given through the feedback link. The purpose of self-adaptive adjustment is to maximize the utilization of the existing resources of the system. From the perspective of mathematical model, it is an optimization problem with given optimization objectives and constraints.
2、多输入多输出(MIMO)技术2. Multiple-input multiple-output (MIMO) technology
多输入多输出(MIMO)就如字面意思是一种多发射端多接收端的传输技术,使信号通过发射端与接收端的多个天线传送和接收,它能充分利用空间资源,通过多个天线实现多发多收,在不增加频谱资源和天线发射功率的情况下,可以成倍的提高系统信道容量,对于改善通信质量具有很好的优势。Multiple-input multiple-output (MIMO) literally means a transmission technology with multiple transmitters and multiple receivers, which enables signals to be transmitted and received through multiple antennas at the transmitter and receiver. It can make full use of space resources and achieve Multi-transmission and multi-reception can double the system channel capacity without increasing spectrum resources and antenna transmission power, which has a good advantage in improving communication quality.
MIMO技术大致可以分为两类:空间分集和空间复用。空间分集是指利用多发射端将具有相同信息的信号通过不同路径发送出去,同时在接收端获得同一数据符号的多个独立衰落信号,从而获得分集提高的接受可靠性。空间复用则不同,在发射端将具有不同信号通过不同路径发送出去,在接收端获得不同数据符号的独立衰落信号,从而在不增加带宽和发送功率的情况下,可以有效提高频率利用率。MIMO technology can be roughly divided into two categories: space diversity and space multiplexing. Space diversity refers to the use of multiple transmitters to send signals with the same information through different paths, and at the same time obtain multiple independent fading signals of the same data symbol at the receiver, so as to obtain the reception reliability improved by diversity. Spatial multiplexing is different. At the transmitting end, different signals are sent through different paths, and independent fading signals of different data symbols are obtained at the receiving end, so that the frequency utilization can be effectively improved without increasing the bandwidth and transmission power.
在基于空间分集的MIMO-FSO系统中,发射功率和调制格式的大小以及编码长度都是固定不变的,因此为了保证系统的可靠性,必须以信道质量最差为基础设计MIMO-FSO系统的发射功率大小和调制格式大小以及编码方式。这样势必会造成系统资源的浪费,因为在晴朗的天气下,信道质量非常好,但是系统参数都是以信道质量最差为基准设计的,因此会造成系统性能无法达到最优化。In the MIMO-FSO system based on space diversity, the transmission power, the size of the modulation format and the code length are fixed, so in order to ensure the reliability of the system, the MIMO-FSO system must be designed on the basis of the worst channel quality. The size of the transmission power and the size of the modulation format and the encoding method. This will inevitably cause a waste of system resources, because in sunny weather, the channel quality is very good, but the system parameters are designed based on the worst channel quality, so the system performance cannot be optimized.
在基于空间分集的MIMO-FSO系统中,大多数情况都是根据奇异值分解(SVD)来设计MIM0系统自适应方案.在这类算法中,MIMO系统需要获得精确的信道状态信息矩阵并对其进行复杂度较高的SVD分解得到各等价子信道的奇异值,发射端再据此自适应的分配各发射天线功率和选择各天线编码及调制方式,并对每一时隙的调制符号矢量进行线性预变换,再分解为各路数据送入各发射天线。虽然该算法具有最优的系统平均频谱利用率性能,但由于SVD分解的计算复杂度过高,且线性预变换会增加发射端的硬件实现复杂度,且该方法会受到反馈链路质量的极大影响,因此不适于实际应用。In MIMO-FSO systems based on space diversity, most of the cases are based on the singular value decomposition (SVD) to design the MIMO system adaptive scheme. In this type of algorithm, the MIMO system needs to obtain accurate channel state information matrix and its Perform SVD decomposition with high complexity to obtain the singular value of each equivalent sub-channel, and then the transmitter adaptively allocates the power of each transmit antenna and selects each antenna coding and modulation method based on this, and performs modulation on the modulation symbol vector of each time slot Linear pre-transformation, and then decompose into each channel of data and send it to each transmitting antenna. Although this algorithm has the best system average spectrum utilization performance, the calculation complexity of SVD decomposition is too high, and the linear pre-transformation will increase the hardware implementation complexity of the transmitter, and this method will be greatly affected by the quality of the feedback link. effect, so it is not suitable for practical application.
发明内容Contents of the invention
本发明要解决的技术问题是,提供一种基于空间分集自适应的MIMO-FSO系统,解决自由空间光通信系统在大气信道中性能较差,以及资源利用低的问题。The technical problem to be solved by the present invention is to provide a space diversity adaptive MIMO-FSO system to solve the problems of poor performance and low resource utilization of free space optical communication systems in atmospheric channels.
为实现上述目的,本发明采用的技术方案:In order to achieve the above object, the technical scheme adopted in the present invention:
一种基于空间分集自适应的MIMO-FSO系统,包括:发射端、接收端、自适应控制单元以及反馈链路单元;其中,发射端采用N条发射天线进行信息的发送,而接收端采用M条发射天线进行信息的接收;在接收端和发射端都设置有反馈链路和信道估计单元,反馈链路采用RF通信链路;自适应控制单元位于发射端,用于使得发射端可以根据反馈链路所得到的信道状态信息自适应的调节发射功率大小、信道编码长度和调制方式。An adaptive MIMO-FSO system based on space diversity, including: a transmitting end, a receiving end, an adaptive control unit, and a feedback link unit; wherein, the transmitting end uses N transmitting antennas to transmit information, and the receiving end uses M Two transmitting antennas are used to receive information; both the receiving end and the transmitting end are provided with a feedback link and a channel estimation unit, and the feedback link adopts an RF communication link; the adaptive control unit is located at the transmitting end to enable the transmitting end to The channel state information obtained by the link adaptively adjusts the transmission power, channel coding length and modulation mode.
作为优选,自适应单元,用于当通过反馈链路获得的信道参数h,经过信号处理单元分别输出三路信号标,分别为S0信号,S1信号,S2信号;所述这三路控制信号都是关于信道状态信息参数h的函数;当大气湍流强弱不同时,根据RF反馈信道得到大气湍流强度的状态信息h,可以自适应调节调制方式以及编码方式和激光器光功率。As preferably, the self-adapting unit is used for when the channel parameter h obtained by the feedback link outputs three signal signs respectively through the signal processing unit, which are respectively S 0 signal, S 1 signal, and S 2 signal; The control signal is a function of the channel state information parameter h; when the intensity of atmospheric turbulence is different, the state information h of atmospheric turbulence intensity can be obtained according to the RF feedback channel, and the modulation mode, coding mode and laser optical power can be adaptively adjusted.
作为优选,自适应单元调制过程包括以下步骤:Preferably, the adaptive unit modulation process includes the following steps:
1、预先设定系统的性能约束条件,即中断概率最大值为PO,系统能容忍的最大误码率为Pth,根据求出当系统发生中断时所对应的信道状态参数ε;1. Preset the performance constraints of the system, that is, the maximum outage probability is PO, and the maximum bit error rate that the system can tolerate is P th , according to Find the corresponding channel state parameter ε when the system is interrupted;
2、接收端根据最大功率接收策略对多个接收天线的信号进行数字处理,将一部分信息送到反馈信号处理单元并将信道估计的结果以RF信号的形式发送到接收端;2. The receiving end digitally processes the signals of multiple receiving antennas according to the maximum power receiving strategy, sends part of the information to the feedback signal processing unit and sends the channel estimation result to the receiving end in the form of RF signals;
3、接收端的决策器接收到反馈链路的信道状态信息值h,首先将h与ε对比,若h<ε,则进行第4步,反之进行第5步;3. The decision maker at the receiving end receives the channel state information value h of the feedback link, first compares h with ε, if h<ε, then proceed to step 4, otherwise proceed to step 5;
4、保持发射功率不变,根据h的大小判断当前湍流强度的大小,并根据不同强度湍流的信道状态选择对应的调制格式和编码方式,重复第3步,4. Keep the transmission power unchanged, judge the current turbulence intensity according to the size of h, and select the corresponding modulation format and coding method according to the channel state of different intensity turbulence, and repeat step 3,
5、在保持发射功率不超过安全的功率峰值时,增加20%的发射功率,不改变调制格式和编码方式,重复第3步;5. When the transmission power does not exceed the safe power peak value, increase the transmission power by 20%, without changing the modulation format and coding method, and repeat step 3;
6、反馈链路的持续工作,使系统不断的进行自适应调节参数。6. The continuous operation of the feedback link enables the system to continuously adjust parameters adaptively.
附图说明Description of drawings
图1为基于多输入多输出的自由空间光通信自适应传输系统;Figure 1 is an adaptive transmission system for free space optical communication based on multiple input and multiple output;
图2为自适应传输控制单元示意图;Fig. 2 is a schematic diagram of an adaptive transmission control unit;
图3为自适应传输算法的流程图。Fig. 3 is a flow chart of the adaptive transmission algorithm.
具体实施方式detailed description
本发明提供一种基于空间分集自适应的MIMO-FSO系统,由发射端、接收端、自适应控制单元以及反馈链路单元四部分组成。结合传统自由空间光通信系统的结构组成,基于多输入多输出的自适应传输自由空间光通信的组成结构如图1所示,该系统中自适应控制单元位于发射端,且主要控制的是发射端的发射功率、信道编码长度、调制格式这三个发射参数。发射端采用N条发射天线进行信息的发送,而接收端采用M条发射天线进行信息的接收,N和M的值可以相同也可以不同。在接收端和发射端都设置有反馈链路和信道估计单元,反馈链路采用RF通信链路。在采用空间分集技术的MIMO-FSO系统中,引入自适应控制单元,使得发射端可以根据反馈链路所得到的信道状态信息自适应的调节发射功率大小、信道编码长度和调制方式,从而使得系统的可靠性更高,而且在保证通信质量的同时增加频谱利用率和编码速率,减少平均发射功率,进而使得系统更加高效。自适应控制单元的主要结构设计示意图如图2所示。当通过反馈链路获得的信道参数h,经过信号处理单元分别输出三路信号标,分别为S0信号,S1信号,S2信号。这三路控制信号分别控制调制方式不、编码方式以及激光器发射功率大小。这三路控制信号都是关于信道状态信息参数h的函数。当大气湍流强弱不同时,根据RF反馈信道得到大气湍流强度的状态信息h,就可以自适应调节调制方式以及编码方式和激光器光功率。其中自适应调制策略的主要方法步骤为:The invention provides an adaptive MIMO-FSO system based on space diversity, which is composed of four parts: a transmitting end, a receiving end, an adaptive control unit and a feedback link unit. Combined with the structure of the traditional free-space optical communication system, the structure of free-space optical communication based on multiple-input multiple-output adaptive transmission is shown in Figure 1. In this system, the adaptive control unit is located at the transmitting end, and the main control is the transmitting There are three transmission parameters of the transmission power, channel coding length, and modulation format of the terminal. The transmitting end uses N transmitting antennas to send information, and the receiving end uses M transmitting antennas to receive information, and the values of N and M can be the same or different. Both the receiving end and the transmitting end are provided with a feedback link and a channel estimation unit, and the feedback link adopts an RF communication link. In the MIMO-FSO system using space diversity technology, an adaptive control unit is introduced so that the transmitter can adaptively adjust the transmission power, channel coding length and modulation method according to the channel state information obtained from the feedback link, so that the system The reliability is higher, and the spectrum utilization rate and coding rate are increased while the communication quality is guaranteed, and the average transmission power is reduced, thereby making the system more efficient. The schematic diagram of the main structural design of the adaptive control unit is shown in Fig. 2 . When the channel parameter h obtained through the feedback link, the signal processing unit outputs three signals respectively, which are S 0 signal, S 1 signal, and S 2 signal. These three control signals respectively control the modulation mode, coding mode and laser emission power. These three control signals are all functions of the channel state information parameter h. When the intensity of atmospheric turbulence is different, the state information h of atmospheric turbulence intensity can be obtained according to the RF feedback channel, and the modulation mode, encoding mode and laser optical power can be adaptively adjusted. The main method steps of the adaptive modulation strategy are:
1.对系统的通信性能指标进行条件约束;如系统性能约束参数选择中断概率,即当误码率Pb大于一个特定值Pth时系统通信中端的概率。中断概率表达式为Pout=P{Pb>Pth}因此可以通过最大的误码率Pb确定一个系统可以接收的最低信噪比SNR;为了保持系统的可靠通信,中断概率必须小于我们预先定义的系统中断概率的值。1. Carry out conditional constraints on the communication performance index of the system; for example, the system performance constraint parameter selects the outage probability, that is, the probability of the middle end of the system communication when the bit error rate P b is greater than a specific value P th . The expression of the outage probability is P out = P{P b >P th }, so the minimum signal-to-noise ratio (SNR) that a system can receive can be determined by the maximum bit error rate P b ; in order to maintain reliable communication of the system, the outage probability must be less than our The value of the predefined system outage probability.
2.根据反馈链路信息采用最小二乘法(LS)的信道估计方法获取信道状态信息h;接收部分采用的是多个天线接收,因此在接收端的反馈决策单元中需对多个天线的接收信号进行整合,采用最大增益接收原则,获取接收端的信噪比,从而根据大气信道的数学模型进行信道状态信息估计;因此h可以表示湍流强度大小。2. According to the feedback link information, the channel estimation method of least square method (LS) is used to obtain the channel state information h; the receiving part adopts multiple antennas to receive, so the feedback decision unit of the receiving end needs to analyze the received signals of multiple antennas For integration, the principle of maximum gain reception is adopted to obtain the signal-to-noise ratio at the receiving end, so as to estimate the channel state information according to the mathematical model of the atmospheric channel; therefore h can represent the turbulence intensity.
3.根据反馈所得的信道状态信息自动调整调制格式方式、发射功率大小以及信道编码长度。3. Automatically adjust the modulation format, transmission power and channel coding length according to the channel state information obtained from the feedback.
为简化且明确的描述具体的调制步骤,本发明采用启发式推理算法,当不采用自适应调制方案传输时,固定的发射功率和固定的调制格式大小都必须要满足在最差情况下的信道参数。然而,当采用自适应调制方案时,调制格式的大小、编码方式是根据信道条件参数变化的,因此我们可以将信道参数分成几段表示例如ε=hmax≤hmax-1≤…≤h2≤h1=+∞,则对应的M值也可以分段选取,例如:In order to simplify and clearly describe the specific modulation steps, the present invention uses a heuristic reasoning algorithm. When the adaptive modulation scheme is not used for transmission, the fixed transmission power and the fixed modulation format size must satisfy the channel in the worst case parameter. However, when an adaptive modulation scheme is used, the size of the modulation format and the encoding method change according to the channel condition parameters, so we can divide the channel parameters into several segments to express for example ε=h max ≤h max-1 ≤...≤h 2 ≤h 1 =+∞, the corresponding M value can also be selected in sections, for example:
发射功率Pt是关于信道状态参数h和调制格式M的函数。很明显若要保证可靠通信,接收端接收到的信噪比达到系统约束的最小值即γhPt=SNRmin,则发射功率Pt需要尽可能取较大的值,而且还要低于发射功率限制的最大值。因此我们定义当h值极小时,我们假定发射功率Pt为零,即可得The transmit power Pt is a function of the channel state parameter h and the modulation format M. Obviously, in order to ensure reliable communication, the signal-to-noise ratio received by the receiving end reaches the minimum value constrained by the system, that is, γhP t = SNR min , then the transmission power P t needs to be as large as possible, and must be lower than the transmission power Maximum limit. Therefore, we define that when the value of h is extremely small, we assume that the transmit power P t is zero, then we can get
这里可知发射功率Pt为信道状态参数h和调制格式大小M的函数,而且当h<ε时系统发生中断,因此可以得出中断概率表达式为:It can be seen here that the transmit power P t is a function of the channel state parameter h and the modulation format size M, and when h<ε, the system is interrupted, so the expression of the outage probability can be obtained as:
当我们规定系统的最高误码率为Pth,且对应的最大中断概率为PO,则我们可以根据Pout=PO得出ε在通信发生中断时所对应的值。进而依据反馈链路确定信道参数h的值与ε的大小关系,就可以根据h值进行调制格式M的大小选择以及编码方式的选择和发射功率的调节,如表格1给出。When we stipulate that the highest bit error rate of the system is P th , and the corresponding maximum outage probability is PO, then we can obtain the corresponding value of ε when the communication is interrupted according to P out = PO. Furthermore, the relationship between the value of the channel parameter h and ε is determined according to the feedback link, and the size selection of the modulation format M, the selection of the coding method, and the adjustment of the transmission power can be performed according to the value of h, as shown in Table 1.
表1不同湍流强度下不同调制格式的误码率关系图Table 1 BER relationship diagram of different modulation formats under different turbulence intensities
上面表格描述了在不同湍流强度下选择不同调制方式的误码率大小对比。针对编码方式的自动调节则需要参考下表则给出不同湍流强度下不同编码方式的误码率对比。The table above describes the bit error rate comparison of different modulation modes selected under different turbulence intensities. For the automatic adjustment of the coding method, you need to refer to the following table, which gives the comparison of the bit error rate of different coding methods under different turbulence intensities.
表2不同湍流强度下不同编码方式的误码率关系图Table 2 The bit error rate relationship diagram of different encoding methods under different turbulence intensities
从上述两表中我们可以看出当我们通过反馈链路经过信道估计得出大气信道参数h,从而可以得出该信道的湍流强度大小,从而可以进行编码方式和调制格式的选择,当确定M的取值,则根据公式Ms/(γPm)≤ε求得发射功率的大小。其中ε为误码率达到最大值,而且为系统中断时信道参数的值,SNRmin为保证可靠通信所需的最小信噪比,γ表示采用MPPM调制格式时所对应的信噪比系数。因此完成整个自适应传输的过程如下:From the above two tables, we can see that when we get the atmospheric channel parameter h through the channel estimation through the feedback link, we can get the turbulence intensity of the channel, so that we can choose the coding method and modulation format. When M The value of the transmission power is obtained according to the formula M s /(γP m )≤ε. Where ε is the maximum value of the bit error rate and the value of the channel parameter when the system is interrupted, SNR min is the minimum signal-to-noise ratio required to ensure reliable communication, and γ represents the corresponding signal-to-noise ratio coefficient when the MPPM modulation format is used. Therefore, the process of completing the entire adaptive transmission is as follows:
1.多个接收天线依据最大增益合并,进行信道估计得出信道状态信息h;1. Multiple receiving antennas are combined according to the maximum gain, and channel estimation is performed to obtain channel state information h;
2.根据得出的h大小确定湍流强度大小范围,从而选择合适的编码方式和调制格式的大小。2. Determine the size range of the turbulence intensity according to the size of h obtained, so as to select the appropriate coding method and the size of the modulation format.
3.根据信道状态h和调制格式M依据公式2选择平均功率最小的功率值。3. According to the channel state h and the modulation format M, the power value with the smallest average power is selected according to formula 2.
为了更好的说明本发明,以下参照附图3,对本发明的具体实施作进一步详细的描述:In order to better illustrate the present invention, below with reference to accompanying drawing 3, the concrete implementation of the present invention is described in further detail:
1.预先设定系统的性能约束条件,即中断概率最大值为PO,系统能容忍的最大误码率为Pth,根据求出当系统发生中断时所对应的信道状态参数ε。1. Preset the performance constraints of the system, that is, the maximum outage probability is PO, and the maximum bit error rate that the system can tolerate is P th , according to Find the corresponding channel state parameter ε when the system is interrupted.
2.接收端根据最大功率接收策略对多个接收天线的信号进行数字处理,将一部分信息送到反馈信号处理单元并将信道估计的结果以RF信号的形式发送到接收端。2. The receiving end digitally processes the signals of multiple receiving antennas according to the maximum power receiving strategy, sends part of the information to the feedback signal processing unit and sends the channel estimation result to the receiving end in the form of RF signals.
3.接收端的决策器接收到反馈链路的信道状态信息值h,首先将h与ε对比,若h<ε,则进行第4步,反之进行第5步。3. The decision maker at the receiving end receives the channel state information value h of the feedback link, first compares h with ε, if h<ε, then proceed to step 4, otherwise, proceed to step 5.
4.保持发射功率不变,根据h的大小判断当前湍流强度的大小,并根据不同强度湍流的信道状态选择对应的调制格式和编码方式。重复第3步。4. Keep the transmit power constant, judge the current turbulence intensity according to the size of h, and select the corresponding modulation format and coding method according to the channel state of different intensity turbulence. Repeat step 3.
5.在保持发射功率不超过安全的功率峰值时,增加20%的发射功率,不改变调制格式和编码方式,重复第3步。5. When the transmission power does not exceed the safe power peak value, increase the transmission power by 20%, without changing the modulation format and coding method, and repeat step 3.
6.反馈链路的持续工作,可以使系统不断的进行自适应调节参数。6. The continuous operation of the feedback link can enable the system to continuously adjust parameters adaptively.
以上对本发明进行了详细的说明,但本发明的具体实现形式并不局限于此。对于本技术领域的一般技术人员来说,在不背离本发明所述方法的精神和权利要求范围的情况下对它进行的各种显而易见的改变都在本发明的保护范围之内。The present invention has been described in detail above, but the specific implementation forms of the present invention are not limited thereto. For those skilled in the art, various obvious changes made to the method of the present invention without departing from the spirit of the method and the scope of the claims are within the protection scope of the present invention.
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