Partial copies of the original survived and Wujing Zongyao was republished in 1231 during the Southern Song Dynasty, including military developments since the original 1044 publication. (The original Wujing Zongyao was compiled between 10 and described the discovery of black powder but preceded the invention of the rocket. Textual evidence and illustrations of various early rocket launchers are found in the 1510 edition of the Wujing Zongyao translated by Needham and others at Princeton University. The launchers divided the rockets with frames meant to keep them separated, and the launchers were capable of firing multiple rockets at once. The rocket launchers were constructed of wood, basketry, and bamboo tubes. The rocket was propelled by the burning of the black powder in the motor these should not be confused with early fire arrows, which were conventional arrows carrying small tubes of black powder as an incendiary that ignited only after the arrow hit its target.
The earliest rocket launchers documented in imperial China consisted of arrows modified by the attachment of a rocket motor to the shaft a few inches behind the arrowhead. Main article: History of rockets Rocket carts from the Wubei Zhi A depiction of a 'long serpent' rocket launcher from the Wubei Zhi
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