CN108259397B - Large-scale MIMO system channel estimation method based on adaptive regularization subspace tracking compressed sensing algorithm - Google Patents
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Abstract
本发明公开了一种基于自适应正则化子空间追踪压缩感知算法的大规模MIMO系统信道估计,针对大规模MIMO信道在时域上存在的稀疏性,设计基于压缩感知的信道估计算法,具有如下步骤:基站处Nt根天线发送信息,用户端的Nr根天线进行接收,接收到的导频信号为测量向量y;根据发送的导频信息构建感知矩阵A;自适应正则化子空间追踪算法估计稀疏信号h。本发明所采用的方法在信道稀疏性的前提下进行研究,在子空间追踪算法的基础上进行改进,在第一次选择步长时自适应的进行选择,在两次选择原子中间加入了正则化过程,选出能量最大的一组原子,能够以较少的导频数得到较为准确的估计效果,效果好于传统的信道估计方法,具有一定的实用价值。
The invention discloses a channel estimation of massive MIMO system based on adaptive regularization subspace tracking compressed sensing algorithm. Aiming at the sparseness of massive MIMO channels in the time domain, a channel estimation algorithm based on compressed sensing is designed, which has the following features: Steps: N t antennas at the base station send information, N r antennas at the user end receive the information, and the received pilot signal is the measurement vector y; construct a perception matrix A according to the sent pilot information; Adaptive regularization subspace tracking algorithm Estimate the sparse signal h. The method adopted in the present invention is studied under the premise of channel sparsity, and is improved on the basis of the subspace tracking algorithm. When the step size is selected for the first time, the selection is made adaptively, and the regularity is added between the two selection atoms. In the process of optimization, a group of atoms with the largest energy can be selected, and a relatively accurate estimation effect can be obtained with a small number of pilots. The effect is better than the traditional channel estimation method, and it has certain practical value.
Description
技术领域technical field
本发明属于通信信号处理领域,具体涉及基于一种基于自适应正则化子空间追踪压缩感知算法的大规模MIMO系统信道估计方法。The invention belongs to the field of communication signal processing, and in particular relates to a channel estimation method for a massive MIMO system based on an adaptive regularization subspace tracking compressed sensing algorithm.
背景技术Background technique
近些年移动通信无线技术发展迅速,在现在第四代移动通信中,MIMO技术利用空间复用和传输分集特性,在很大程度上提高了信息传输的速率和可靠性。在接下来的十多年,无线通信对传输速率的需求预计将是目前系统的千倍,因而4G仍难以满足未来移动通信的应用需求,许多国家已经着眼于第五代移动通信技术的研究。大规模MIMO技术是在传统MIMO技术基础上发展而来的新技术,其核心思想是在基站端配备数十根乃至上百根天线组成天线阵列同时服务于多个用户以提高频谱利用率并提高信息传输速率,其已经成为了5G的关键技术之一。对于大规模MIMO技术进行信道均衡和相关检测都需要精确的信道状态信息,所以对大规模MIMO系统进行信道估计十分必要。In recent years, the wireless technology of mobile communication has developed rapidly. In the current fourth-generation mobile communication, MIMO technology utilizes the characteristics of spatial multiplexing and transmission diversity, which greatly improves the rate and reliability of information transmission. In the next decade or so, the transmission rate demand of wireless communication is expected to be a thousand times that of the current system. Therefore, 4G is still difficult to meet the application requirements of future mobile communication. Many countries have already focused on the research of fifth-generation mobile communication technology. Massive MIMO technology is a new technology developed on the basis of traditional MIMO technology. Its core idea is to equip the base station with dozens or even hundreds of antennas to form an antenna array to serve multiple users at the same time to improve spectrum utilization and improve The information transmission rate has become one of the key technologies of 5G. Accurate channel state information is required for channel equalization and correlation detection for massive MIMO technology, so it is necessary to perform channel estimation for massive MIMO systems.
目前,在大规模MIMO系统信道估计领域,现阶段对于大规模MIMO信道估计的研究大多是针对TDD传输模式的,由于TDD具有上下行信道互易性,利用上行信道估计出的信道矩阵对其进行转置即为下行信道状态信息,从而避免了大规模MIMO系统中基站处天线过多而导致的导频污染问题。但是这种信道互易性不是实时的,上行信道的信息对于下行信道来说是可能是过时的,不准确的。而且FDD仍然是现在小区蜂窝系统的主流,所以研究频分双工FDD传输模式下的下行信道估计很有必要。由于在信号传播空间中存在有限数量的散射和延时扩展,而且在基站处天线存在空间相关性,所以其信道的能量只集中在几条主要的路径上,其他路径上能量很小可以忽略不计,所以我们在时域上将信道看作是稀疏的。在大规模MIMO系统FDD下行信道估计的研究中,传统的信道估计方法,如最小均方误差(MMSE)算法、最小二乘法(LS),没有利用信道的稀疏特性,需要较多的导频信号,浪费频带资源且抗噪声能力较差。At present, in the field of channel estimation of massive MIMO systems, most of the research on massive MIMO channel estimation at this stage is aimed at the TDD transmission mode. The transposition is the downlink channel state information, thereby avoiding the pilot pollution problem caused by too many antennas at the base station in the massive MIMO system. However, this channel reciprocity is not real-time, and the information of the uplink channel may be outdated and inaccurate for the downlink channel. Moreover, FDD is still the mainstream of the current cell cellular system, so it is necessary to study the downlink channel estimation in the frequency division duplex FDD transmission mode. Due to the finite amount of scattering and delay spread in the signal propagation space, and the spatial correlation of the antenna at the base station, the energy of the channel is only concentrated on a few main paths, and the energy on other paths is very small and can be ignored. , so we treat the channel as sparse in the time domain. In the research of FDD downlink channel estimation in massive MIMO systems, traditional channel estimation methods, such as minimum mean square error (MMSE) algorithm and least squares (LS) method, do not take advantage of the sparse characteristics of the channel and require more pilot signals , which wastes frequency band resources and has poor anti-noise capability.
发明内容SUMMARY OF THE INVENTION
针对现有信道估计方法存在的不足,本发明提出一种基于自适应正则化子空间追踪压缩感知算法的大规模MIMO系统信道估计方法。在实际的传输空间中,由于存在有限数量的散射和时延扩展,而且基站处的天线放置排列的较为紧凑而存在空间相关性,所以本发明在信道时域稀疏的前提下进行,技术步骤如下:Aiming at the shortcomings of the existing channel estimation methods, the present invention proposes a channel estimation method for massive MIMO systems based on an adaptive regularization subspace tracking compressed sensing algorithm. In the actual transmission space, due to the existence of a limited number of scattering and delay expansion, and the arrangement of the antennas at the base station is relatively compact and there is spatial correlation, the present invention is carried out on the premise that the channel time domain is sparse, and the technical steps are as follows :
一种基于自适应正则化子空间追踪压缩感知算法的大规模MIMO系统信道估计方法,所述信道在时域上看作是稀疏的,具有如下步骤:A channel estimation method for massive MIMO systems based on adaptive regularization subspace tracking compressed sensing algorithm, the channel is regarded as sparse in the time domain, and has the following steps:
S1、基站处Nt根天线发送信息,用户端的Nr根天线进行接收,接收到的导频信号为测量向量y;根据发送的导频信息构建感知矩阵A;S1. N t antennas at the base station send information, and N r antennas at the user end receive the information, and the received pilot signal is a measurement vector y; construct a perception matrix A according to the sent pilot information;
S2、自适应正则化子空间追踪算法估计稀疏信号h。S2. The adaptive regularized subspace tracking algorithm estimates the sparse signal h.
所述步骤S1的具体步骤如下:The specific steps of the step S1 are as follows:
在发送端第i根天线发送一个具有U个子载波的OFDM符号,并进行IFFT变换实现OFDM调制,输出的每个OFDM符号前加入循环前缀CP,以减弱信道延迟扩展产生的影响,这些处理过的OFDM信号经过数模转换后在无线信道内传送到每一个用户端的天线处,在第j根接收天线进行去除循环前缀CP和FFT变换,接收端接收到的导频信号为测量向量yj,y=yj;The i-th antenna at the transmitting end sends an OFDM symbol with U subcarriers, and performs IFFT transformation to realize OFDM modulation. A cyclic prefix CP is added before each output OFDM symbol to reduce the influence of channel delay spread. These processed After digital-to-analog conversion, the OFDM signal is transmitted to the antenna of each user end in the wireless channel, and the cyclic prefix CP and FFT transformation are performed at the jth receiving antenna. The pilot signal received by the receiving end is the measurement vector y j , y = yj ;
随机选取U个子载波上的N个位置放置导频符号,构造出感知矩阵 其中pn为选取的N个位置的导频信息,FL为U点离散傅里叶变换矩阵F中对应的导频所在位置的N行和信道长度的前L列,则 Randomly select N positions on U subcarriers to place pilot symbols, and construct a sensing matrix where p n is the pilot information of the selected N positions, and FL is the N rows of the corresponding pilot positions in the U-point discrete Fourier transform matrix F and the first L columns of the channel length, then
由此可得信道冲激响应可以用压缩感知模型求解。It can be obtained that the channel impulse response can be solved by the compressive sensing model.
之后用压缩感知重构算法重构出信道冲激响应,这里的重构算法使用改进的贪婪类算法即自适应正则化子空间追踪算法:Then use the compressed sensing reconstruction algorithm to reconstruct the channel impulse response. The reconstruction algorithm here uses an improved greedy algorithm, that is, the adaptive regularization subspace tracking algorithm:
所述步骤S2的具体步骤如下:The specific steps of the step S2 are as follows:
S21、进行重构初始化:初始残差:r0=y,迭代次数:i=1,初始步长:s=1,阶段步长:stage=1,列序号索引集:感知矩阵支持集:稀疏度K;S21, perform reconstruction initialization: initial residual: r 0 =y, number of iterations: i=1, initial step size: s=1, stage step size: stage=1, column serial number index set: Perceptual matrix support set: sparsity K;
S22、根据式u={uj|uj=|<rj,Aj>|,j=1,2,…,N}求残差r与感知矩阵A各列的内积,并选取其中前s个最大值记入索引集Ji;S22. According to the formula u={u j |u j =|<r j ,A j >|,j=1,2,...,N}, find the inner product of the residual r and each column of the perception matrix A, and select one of them The first s maximum values are recorded in the index set J i ;
S23、对Ji中按式|ui|≤2|uj|,i,j∈Ji进行正则化能量分级过程,将正则化后得到的索引值存入Jx中,并根据Jx更新支撑集AJx;S23. Carry out the regularization energy grading process in J i according to the formula |u i |≤2|u j |,i,j∈J i , store the index value obtained after regularization into J x , and according to J x Update the support set A Jx ;
S24、求的伪逆得到 S24, ask The pseudo-inverse of
S25、根据回溯思想,选取中绝对值最大的K个元素对应的索引值记入Jt,并根据索引值Jt更新支撑集 S25. According to the retrospective thinking, select The index values corresponding to the K elements with the largest absolute value are recorded in J t , and the support set is updated according to the index value J t
S26、求的伪逆得到 S26, ask The pseudo-inverse of
S27、更新残差 S27, update residual
S28、i=i+1,若i≤K,则继续,否则停止迭代进入步骤S210;S28, i=i+1, if i≤K, continue, otherwise stop iterating and go to step S210;
S29、比较残差值:S29, compare residual values:
若||rnew||2≥||rn-1||2,则stage=stage+1,s=s·stage,转步骤S22;If ||r new || 2 ≥||r n-1 || 2 , then stage=stage+1, s=s·stage, go to step S22;
若||rnew||2<||rn-1||2,s=s,转步骤S22;If ||r new || 2 <||r n-1 || 2 , s=s, go to step S22;
S210、重构得到的在Jt处有非零值,其值为最后一次迭代得到的 S210. Reconstructed There is a non-zero value at J t whose value is obtained from the last iteration
S211、对其他接收天线收到的信息做同样处理,并取并集,得到最后的估计的h。S211. Perform the same processing on the information received by other receiving antennas, and take a union to obtain the final estimated h.
传统的信道估计技术没有考虑信道稀疏特性,会使用过多数量的导频才能得到一定的估计效果,极大的降低了频带利用率,浪费资源。本发明所采用的方法在信道稀疏性的前提下进行研究,在子空间追踪算法的基础上进行改进,在第一次选择步长时自适应的进行选择,在两次选择原子中间加入了正则化过程,选出能量最大的一组原子,能够以较少的导频数得到较为准确的估计效果,效果好于传统的信道估计方法,具有一定的实用价值。The traditional channel estimation technology does not consider the channel sparse characteristics, and will use an excessive number of pilots to obtain a certain estimation effect, which greatly reduces the frequency band utilization rate and wastes resources. The method adopted in the present invention is studied under the premise of channel sparsity, and is improved on the basis of the subspace tracking algorithm. When the step size is selected for the first time, the selection is made adaptively, and the regularity is added between the two selection atoms. In the process of optimization, a group of atoms with the largest energy can be selected, and a relatively accurate estimation effect can be obtained with a small number of pilots. The effect is better than the traditional channel estimation method, and it has certain practical value.
基于上述理由本发明可在通信信号处理等领域广泛推广。Based on the above reasons, the present invention can be widely promoted in the fields of communication signal processing and the like.
附图说明Description of drawings
为了更清楚地说明本发明实施例或现有技术中的技术方案,下面将对实施例或现有技术描述中所需要使用的附图做以简单地介绍,显而易见地,下面描述中的附图是本发明的一些实施例,对于本领域普通技术人员来讲,在不付出创造性劳动性的前提下,还可以根据这些附图获得其他的附图。In order to illustrate the embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description These are some embodiments of the present invention, and for those of ordinary skill in the art, other drawings can also be obtained from these drawings without any creative effort.
图1是本发明的具体实施方式中基于自适应正则化子空间追踪压缩感知算法的大规模MIMO系统信道估计方法的流程图。FIG. 1 is a flowchart of a channel estimation method for a massive MIMO system based on an adaptive regularization subspace tracking compressed sensing algorithm in a specific embodiment of the present invention.
图2是本发明的具体实施方式中大规模MIMO系统的传输流程。FIG. 2 is a transmission flow of a massive MIMO system in a specific embodiment of the present invention.
图3是本发明的具体实施方式中自适应正则化子空间追踪算法估计的流程图。FIG. 3 is a flowchart of the estimation of the adaptive regularization subspace tracking algorithm in the specific embodiment of the present invention.
具体实施方式Detailed ways
为使本发明实施例的目的、技术方案和优点更加清楚,下面将结合本发明实施例中的附图,对本发明实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例是本发明一部分实施例,而不是全部的实施例。基于本发明中的实施例,本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例,都属于本发明保护的范围。In order to make the purposes, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments These are some embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.
如图1-图3所示,一种基于自适应正则化子空间追踪压缩感知算法的大规模MIMO系统信道估计方法,用于单个小区FDD传输模式的下行信道。基站处配置Nt根天线,有Nr个单天线用户终端。在本具体实施方案中,以Nt=16,Nr=8来做具体描述。As shown in Fig. 1-Fig. 3, a channel estimation method for massive MIMO system based on adaptive regularization subspace tracking compressed sensing algorithm is used for downlink channel of single cell FDD transmission mode. N t antennas are configured at the base station, and there are N r single-antenna user terminals. In this specific embodiment, N t =16 and N r =8 are used for specific description.
所述信道在时域上看作是稀疏的,所述估计具有如下步骤:The channel is regarded as sparse in the time domain, and the estimation has the following steps:
S1、基站处Nt根天线发送信息,用户端的Nr根天线进行接收,接收到的导频信号为测量向量y:在第i根发送天线与第j根接收天线间的信道冲激响应为hi为路径增益,τi为路径延迟,信道长度为L,hi中非零个数为K个,K<<L。我们取信道长度为256,信道中非零个数K为6,即信道稀疏度为6;S1. N t antennas at the base station transmit information, and N r antennas at the user end receive the information. The received pilot signal is the measurement vector y: the channel impulse response between the i-th transmitting antenna and the j-th receiving antenna is: hi is the path gain, τ i is the path delay, the channel length is L, the number of non- zeros in hi is K, and K<<L. We take the channel length as 256, and the non-zero number K in the channel as 6, that is, the channel sparsity is 6;
在发送端第i根天线发送一个具有4096个子载波的OFDM符号,并进行IFFT变换实现OFDM调制,输出的每个OFDM符号前加入循环前缀CP,这些处理过的OFDM信号经过数模转换后在无线信道内传送到每一个用户端的天线处,在第j根接收天线进行去除循环前缀CP和FFT变换,接收端接收到的导频信号为测量向量yj,y=yj,考虑到信道内的噪声n,则第j个用户收到的接收符号为式 The i-th antenna at the transmitting end sends an OFDM symbol with 4096 sub-carriers, and performs IFFT transformation to realize OFDM modulation. A cyclic prefix CP is added before each output OFDM symbol. In the channel, it is transmitted to the antenna of each user end, and the jth receiving antenna is used to remove the cyclic prefix CP and FFT transformation, and the pilot signal received by the receiving end is the measurement vector y j , y=y j , considering the in-channel noise n, then the received symbol received by the jth user is
S2、根据发送的导频信息构建感知矩阵A:S2. Construct a perception matrix A according to the sent pilot information:
随机选取4096个子载波上的500个位置放置导频符号,构造出感知矩阵其中pn为选取的500个位置的导频信息,FL为U点离散傅里叶变换矩阵F中对应的导频所在位置的500行和信道长度的前256列,则 Randomly select 500 positions on 4096 subcarriers to place pilot symbols to construct a perception matrix where p n is the pilot information of the selected 500 positions, F L is the 500 rows of the corresponding pilot positions in the U-point discrete Fourier transform matrix F and the first 256 columns of the channel length, then
S3、自适应正则化子空间追踪算法估计稀疏信号h:S3. The adaptive regularized subspace tracking algorithm estimates the sparse signal h:
在大规模MIMO系统中,由于在信号传播空间中存在有限数量的散射和延时扩展,而且在基站处天线存在空间相关性,所以其信道的能量只集中在几条主要的路径上,其他路径上能量很小可以忽略不计,所以我们在时域上将信道看作是稀疏的,根据信道稀疏性的特点,采用压缩感知方法估计。压缩感知是一种新的采样理论,其与传统奈奎斯特采样定理不同。它指出,只要信号是可以压缩的或者在某个变换域上是稀疏的,那么就可以用一个与变换基不相关的观测矩阵将高维信号投影到一个低维空间上,然后通过求解一个优化问题就可以从这些少量的投影中以高概率重构出原信号。假设在RN空间存在一个N×1维的信号x,x可以由一个在RN空间中N×N的变换基Ψ矩阵稀疏表示,即x=Ψh;In a massive MIMO system, due to the limited amount of scattering and delay spread in the signal propagation space, and the spatial correlation of the antennas at the base station, the energy of the channel is concentrated only on a few main paths, and the other paths The upper energy is very small and can be ignored, so we regard the channel as sparse in the time domain, and use the compressed sensing method to estimate it according to the characteristics of channel sparsity. Compressed sensing is a new sampling theory, which is different from the traditional Nyquist sampling theorem. It states that as long as the signal is compressible or sparse in some transform domain, then a high-dimensional signal can be projected onto a low-dimensional space with an observation matrix uncorrelated with the transform basis, and then solved by solving an optimization The problem is that the original signal can be reconstructed with high probability from these few projections. Assuming that there is an N×1-dimensional signal x in the R N space, x can be sparsely represented by a N×N transform basis Ψ matrix in the R N space, that is, x=Ψh;
h是一个可压缩的稀疏信号,即h中只有K个值非零。压缩感知理论表明,对于在某个Ψ域下的稀疏信号h,可以用一个与变换域Ψ不相关的M×N维的测量矩阵Φ将h投影到y上,从而得到一个压缩感知测量模型,如式y=Φx=ΦΨh=Ah。h is a compressible sparse signal, i.e. only K values in h are non-zero. Compressed sensing theory shows that for a sparse signal h in a certain Ψ domain, an M×N-dimensional measurement matrix Φ uncorrelated with the transform domain Ψ can be used to project h onto y, thereby obtaining a compressed sensing measurement model, Such as formula y=Φx=ΦΨh=Ah.
其中,y为N×1维500×1的测量向量,A为N×(Nt*L)维即500×4096的感知矩阵。可以利用已知的观测向量y和感知矩阵A就可以重构稀疏信号h。Among them, y is a measurement vector of N×1 dimension and 500×1, and A is a perception matrix of N×(N t *L) dimension, that is, 500×4096. The sparse signal h can be reconstructed using the known observation vector y and perception matrix A.
为了能够求解压缩感知重构问题,感知矩阵A需要满足受限等距特性(RestrictedIsometry Property,RIP),但要验证感知矩阵是否满足此特性很难,通常只要满足变换矩阵Ψ与测量矩阵Φ不相关就可以求解。In order to solve the compressive sensing reconstruction problem, the sensing matrix A needs to satisfy the Restricted Isometry Property (RIP), but it is difficult to verify whether the sensing matrix satisfies this property, usually as long as the transformation matrix Ψ is not correlated with the measurement matrix Φ can be solved.
是一个典型的可以用压缩感知方法解决的模型。所以用压缩感知重构算法来估计信道冲激响应。 is a typical model that can be solved with compressed sensing methods. So the compressive sensing reconstruction algorithm is used to estimate the channel impulse response.
S31、输入:N×(Nt*L)维的感知矩阵A,N×1维的观测向量y,步长s=1,稀疏度K;S31. Input: N×(N t *L)-dimensional perception matrix A, N×1-dimensional observation vector y, step size s=1, sparsity K;
进行重构初始化:初始残差:r0=y,迭代次数:i=1,初始步长:s=1,阶段步长:stage=1,列序号索引集:感知矩阵支持集:稀疏度K;Perform reconstruction initialization: initial residual: r 0 =y, number of iterations: i=1, initial step size: s=1, stage step size: stage=1, column serial number index set: Perceptual matrix support set: sparsity K;
S32、根据式u={uj|uj=|<rj,Aj>|,j=1,2,…,N}求残差r与感知矩阵A各列的内积,并选取其中前s个最大值记入索引集Ji;S32. According to the formula u={u j |u j =|<r j ,A j >|,j=1,2,...,N}, find the inner product of the residual r and each column of the perception matrix A, and select one of them The first s maximum values are recorded in the index set J i ;
S33、对Ji中按式|ui|≤2|uj|,i,j∈Ji进行正则化能量分级过程,将正则化后得到的索引值存入Jx中,并根据Jx更新支撑集AJx;S33. Carry out the regularization energy classification process for J i according to the formula |u i |≤2|u j |,i,j∈J i , store the index value obtained after regularization into J x , and according to J x Update the support set A Jx ;
S34、求的伪逆得到 S34, ask The pseudo-inverse of
S35、根据回溯思想,选取中绝对值最大的K个元素对应的索引值记入Jt,并根据索引值Jt更新支撑集 S35. According to the retrospective thinking, select The index values corresponding to the K elements with the largest absolute value are recorded in J t , and the support set is updated according to the index value J t
S36、求的伪逆得到 S36, ask The pseudo-inverse of
S37、更新残差 S37, update residual
S38、i=i+1,若i≤K,则继续,否则停止迭代进入步骤S310;S38, i=i+1, if i≤K, continue, otherwise stop iterating and go to step S310;
S39、比较残差值:S39. Compare residual values:
若||rnew||2≥||rn-1||2,则stage=stage+1,s=s·stage,转步骤S32;If ||r new || 2 ≥||r n-1 || 2 , then stage=stage+1, s=s·stage, go to step S32;
若||rnew||2<||rn-1||2,s=s,转步骤S32;If ||r new || 2 <||r n-1 || 2 , s=s, go to step S32;
S310、重构得到的在Jt处有非零值,其值为最后一次迭代得到的 S310. Reconstructed There is a non-zero value at J t whose value is obtained from the last iteration
S311、对其他接收天线收到的信息做同样处理,并取并集,得到最后的估计的h。S311 , perform the same processing on the information received by other receiving antennas, and take a union to obtain the final estimated h.
最后应说明的是:以上各实施例仅用以说明本发明的技术方案,而非对其限制;尽管参照前述各实施例对本发明进行了详细的说明,本领域的普通技术人员应当理解:其依然可以对前述各实施例所记载的技术方案进行修改,或者对其中部分或者全部技术特征进行等同替换;而这些修改或者替换,并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions described in the foregoing embodiments can still be modified, or some or all of the technical features thereof can be equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present invention. scope.
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