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发明专利：一种基于信息共识的分布式机车定位方法及装置,ZL202010060084.3
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发明专利：一种车辆障碍物检测系统及方法,ZL201811613047.X
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发明专利：一种UWB超宽带无线通信的矿井下机车测距定位方法及系统,ZL201911385918.1
