CN108344421A - A kind of ship basis coordinates system and its method for building up - Google Patents
A kind of ship basis coordinates system and its method for building up Download PDFInfo
- Publication number
- CN108344421A CN108344421A CN201810354083.2A CN201810354083A CN108344421A CN 108344421 A CN108344421 A CN 108344421A CN 201810354083 A CN201810354083 A CN 201810354083A CN 108344421 A CN108344421 A CN 108344421A
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- range finder
- energy converter
- attitude transducer
- positioning system
- basis coordinates
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- 238000000034 method Methods 0.000 title claims abstract description 29
- 238000005259 measurement Methods 0.000 claims abstract description 37
- 230000002463 transducing effect Effects 0.000 claims 1
- 238000003908 quality control method Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 238000013507 mapping Methods 0.000 description 2
- 230000009897 systematic effect Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000035515 penetration Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/203—Specially adapted for sailing ships
Abstract
The present invention relates to a kind of method for building up of ship basis coordinates system, include the following steps：Positioning system, attitude transducer and energy converter are mounted at the different location of surveying vessel；The both ends of telescopic fixing rod are separately mounted on range finder and the energy converter；The range finder measures the distance and direction of the positioning system, the attitude transducer and the energy converter relative to the range finder respectively；Using the positioning system, the attitude transducer or the energy converter as origin, calculate the positioning system, the attitude transducer and the energy converter coordinate, construct the ship basis coordinates system.Range operation can be carried out in the present invention whenever and wherever possible, improves range accuracy, reduces the error during hull establishment of coordinate system；It is quick, convenient to obtain hull coordinate data；Be conducive to the quality control of range-measurement system, improve operating efficiency.
Description
Technical field
The present invention relates to mapping geospatial coordinates field, more particularly to a kind of ship basis coordinates system and its method for building up.
Background technology
Surveying vessel operation under motion state is equipped with more to provide the data such as the accurate depth of water and water-bed landform on ship
The critical component of the types range-measurement system such as wave beam depth measurement, range-measurement system is high-precision fixed level measurement device etc., it is the position of full ship
Set the benchmark with measurement direction, the distance that energy is continuous, accurately measure is to be measured.
In the prior art, the coordinate position that tape measure manually measures measuring apparatus is mostly used greatly, and manual measurement can have one
Fixed measurement error, there will be the data of error to bring into range-measurement system, leads to the quality for reducing range-measurement system Measurement results.
Therefore, a kind of ship basis coordinates system of offer and its method for building up are provided, sat with solving measuring apparatus in the prior art
Mapping amount is inaccurate, and range-measurement system is caused to measure the problem of quality reduces.
Invention content
The purpose of the present invention is to provide a kind of ship basis coordinates system and its method for building up, to solve to measure in the prior art
Device coordinate measures inaccuracy, and range-measurement system is caused to measure the problem of quality reduces.
In order to solve the problems in the existing technology, the present invention provides a kind of method for building up of ship basis coordinates system,
Include the following steps：
S1：Positioning system, attitude transducer and energy converter are mounted at the different location of surveying vessel；
S2：The both ends of telescopic fixing rod are separately mounted on range finder and the energy converter；
S3：The range finder measures the positioning system, the attitude transducer and the energy converter relative to institute respectively
Distance and the direction for stating range finder, measure the attitude transducer to straight line where the energy converter and the range finder away from
From the angle in the face that straight line where measuring the energy converter and the range finder is specified with the range finder；
S4：Using the positioning system, the attitude transducer or the energy converter as origin, calculate the positioning system,
The coordinate of the attitude transducer and the energy converter constructs the ship basis coordinates system.
Optionally, in the method for building up of the ship basis coordinates system, the range finder includes two ranging lens barrels, described
One end of two ranging lens barrels is all fixed on same fixed point, and the other end is all rotated by axis of the fixed point.
Optionally, in the method for building up of the ship basis coordinates system, the ranging lens barrel is laser ranging lens barrel.
Optionally, in the method for building up of the ship basis coordinates system, in step s3, including：
The ranging lens barrel is respectively aligned to the positioning system and the attitude transducer, with measure the positioning system and
To the distance of the range finder, straight line where the positioning system and the range finder and the posture pass the attitude transducer
The angle of straight line where sensor and the range finder；
The ranging lens barrel is respectively aligned to the positioning system and the energy converter, to measure the positioning system and described
Energy converter is to the distance of the range finder, straight line and the energy converter and the survey where the positioning system and the range finder
Angle away from straight line where machine；
The ranging lens barrel is respectively aligned to the attitude transducer and the energy converter, with measure the attitude transducer and
The energy converter to the range finder distance, straight line where the attitude transducer and the range finder and the energy converter and
The angle of straight line where the range finder.
Optionally, further include following steps after executing S3 in the method for building up of the ship basis coordinates system：Root
According to the data obtained by the range finder, the average value of distance between identical equipment is sought.
Optionally, in the method for building up of the ship basis coordinates system, in step s 4, according to measurement angle and institute is calculated
Average value, calculate the positioning system, the attitude transducer and the energy converter coordinate.
Optionally, in the method for building up of the ship basis coordinates system, range finder setting the energy converter just on
Side.
Optionally, in the method for building up of the ship basis coordinates system, the range finder includes an indicating arm, the ranging
The specified face of machine is straight line where the indicating arm and the face where the energy converter.
A kind of ship basis coordinates system, including：
Positioning system, attitude transducer, energy converter at the different location of surveying vessel and range finder, if described fixed
Position system, the attitude transducer, the energy converter and the range finder coordinate be respectively A (XA, YA, ZA), B (XB, YB,
ZB), C (XC, YC, ZC) and D (XD, YD, ZD), then meet,
Wherein, l1Indicate the energy converter to the distance of the range finder；l2Indicate the attitude transducer to the ranging
The distance of machine；l3Indicate the positioning system to the distance of the range finder；α represents ∠ CDB；θ represents ∠ ADC；β represents ∠
ADB；The angle in the face that straight line where γ represents the energy converter and the range finder is specified with the range finder.
Optionally, in the ship basis coordinates system, the range finder includes an indicating arm, the specified face of the range finder
For the face where indicating arm place straight line and the energy converter.
In ship basis coordinates system provided by the present invention and its method for building up, by positioning system, attitude transducer and change
Energy device is installed at the different location of surveying vessel；Pass through the distance between equipment in ranging camera lens measuring system and angle；Favorably
In keeping measurement result more accurate.By the distance between clear devices in system and angle, the position in computing system between equipment
Relationship is set, to calculate the coordinate of the positioning system, the attitude transducer and the energy converter；Described in being built by coordinate
Ship basis coordinates system.The ship basis coordinates system is established in the present invention only needs one man operation, you can is quickly obtained hull number of coordinates
According to；So that measurement work is become convenient and efficient, ranging operation can be carried out whenever and wherever possible, and improve range accuracy, reduce ship
Error during basis coordinates system construction in a systematic way is vertical, is conducive to the quality control of range-measurement system, improves operating efficiency.
Description of the drawings
Fig. 1 is that ship basis coordinates system equipment provided in an embodiment of the present invention places side view；
Fig. 2 is that ship basis coordinates system equipment provided in an embodiment of the present invention places vertical view；
Fig. 3 is ship basis coordinates system coordinates schematic diagram provided in an embodiment of the present invention；
Fig. 4 is range finder front schematic view provided in an embodiment of the present invention；
Fig. 5 is Fig. 4 vertical views provided in an embodiment of the present invention；
Fig. 6 is range finder reverse side schematic diagram provided in an embodiment of the present invention；
Wherein, 1- positioning systems；2- attitude transducers；3- energy converters；4- range finders；41- display screens；42- measures button；
43- select buttons；44- can dismantle rear cover；45- indicating arms；46- indicating arm adjusting parts；47- ranging lens barrels；48- lens barrels are adjusted
Component；49- fixed link connecting components.
Specific implementation mode
The specific implementation mode of the present invention is described in more detail below in conjunction with schematic diagram.According to following description and
Claims, advantages and features of the invention will become apparent from.It should be noted that attached drawing is all made of very simplified form and
Using non-accurate ratio, only for the purpose of facilitating and clarifying the purpose of the embodiments of the invention.
It please refers to Fig.1, Fig. 2, Fig. 3, Fig. 4, Fig. 5 and Fig. 6, Fig. 1 is that ship basis coordinates system provided in an embodiment of the present invention is set
It is standby to place side view；Fig. 2 is that ship basis coordinates system equipment provided in an embodiment of the present invention places vertical view；Fig. 3 is that the present invention is real
The ship basis coordinates system coordinates schematic diagram of example offer is provided；Fig. 4 is range finder front schematic view provided in an embodiment of the present invention；Fig. 5
For Fig. 4 vertical views provided in an embodiment of the present invention；Fig. 6 is range finder reverse side schematic diagram provided in an embodiment of the present invention.
As shown in Figure 1, 2, the present invention provides a kind of method for building up of ship basis coordinates system, include the following steps：
S1：Positioning system, attitude transducer and energy converter are mounted at the different location of surveying vessel；
S2：The both ends of telescopic fixing rod are separately mounted on range finder and the energy converter；
S3：The range finder measures the positioning system, the attitude transducer and the energy converter relative to institute respectively
Distance and the direction for stating range finder, measure the attitude transducer to straight line where the energy converter and the range finder away from
From the angle in the face that straight line where measuring the energy converter and the range finder is specified with the range finder；
S4：Using the positioning system, the attitude transducer or the energy converter as origin, calculate the positioning system,
The coordinate of the attitude transducer and the energy converter constructs the ship basis coordinates system.
In the method for building up of ship basis coordinates system provided by the invention, measuring apparatus includes positioning system 1, posture sensing
Device 2 and energy converter 3 build the ship basis coordinates system by the coordinate of the determination measuring apparatus.The ship basis coordinates system
It can be used in all kinds of range-measurement systems, range-measurement system can be made to carry out range operation whenever and wherever possible；By will be described when measurement
Energy converter 3 is mounted on mating telescopic fixing rod, avoids the measuring center that generation is artificially shaken when operating personnel's hand-held instrument
Deviation, improve range accuracy.Manpower and materials and time have been saved simultaneously, have only needed one man operation, you can be quickly obtained ship base
Position relationship in coordinate system between 1 three of energy converter 3, attitude transducer 2 and positioning system；Be conducive to control measurement data
Quality, improve operating efficiency.
In the method for building up of the ship basis coordinates system provided by the present invention, the range finder 4 includes：Fuselage is shown
Display screen 41 measures button 42, select button 43, can dismantle 46, two rear cover 44, indicating arm 45, indicating arm adjusting part rangings
Lens barrel 47, lens barrel adjusting part 48 and fixed link connecting component 49.
The fuselage is three-dimensional shape, including opposite two planes, respectively obverse and reverse；As shown in figure 5, the display
Screen 41, measurement button 42 and select button 43 are arranged in the front of the fuselage；The rear cover 44 that can dismantle is arranged in the machine
Body surface；As shown in figure 4, the indicating arm 45 and indicating arm adjusting part 46 are arranged in the fuselage side wall, the indicating arm
Adjusting part 46 is arranged in 45 end of the indicating arm.As shown in fig. 6, the range finder 4 includes two ranging lens barrels 47, it is described
One end of two ranging lens barrels 47 is all fixed on same fixed point, and the other end is all rotated using the fixed point as axis.Into one
Step, the fixed point is provided with lens barrel adjusting part 48 and fixed link connecting component 49.
The display screen 41 is for display interface and measurement result etc.；The measurement button 42 is for determining that measurement acts；
The select button 43 is for selecting measurement pattern；Described can dismantle after rear cover 44 is dismantled can carry out electricity to the range finder 4
Amount supply etc.；The effects that indicating arm 45 and indicating arm adjusting part 46 are used to indicate direction；The ranging lens barrel 47 is aligned
Devices to test, to measure the distance and angle of Devices to test；Preferably, the ranging lens barrel 47 is laser ranging lens barrel, with tool
Standby penetration capacity.The lens barrel adjusting part 48 is used to adjust the direction of the ranging lens barrel 47；The fixed link connecting component
49 settings are in the fixed point, and constant with determination angular vertex to be measured, the fixed link connecting component 49 is for installing described stretch
Contracting fixed link.Measurement pattern and other settings etc. can be shown in the display screen 41, the select button 43 passes through selection
Selection function key is selected up and down, to select optimum measurement pattern, so that measurement data is more accurate.
Preferably, the setting of the range finder 4 makes the range finder 4 and the energy converter 3 right over the energy converter 3
In a coordinate system, horizontal coordinate is identical, convenient for calculating the positioning system 1, the attitude transducer 2 and the energy converter 3
Coordinate.
In the method for building up of the ship basis coordinates system provided by the present invention, in step s3, the ranging lens barrel 47
Be respectively aligned to the positioning system 1 and the attitude transducer 2, with measure the positioning system 1 and the attitude transducer 2 to
The distance l of the range finder 43And l2, the positioning system 1 and 4 place straight line of the range finder and the attitude transducer 2 and
The angle β of 4 place straight line of the range finder.
Further, the ranging lens barrel 47 is respectively aligned to the positioning system 1 and the energy converter 3, described fixed to measure
Position system 1 and the energy converter 3 to the range finder 4 distance l3And l1, the positioning system 1 and 4 place of the range finder are straight
The angle theta of line and 4 place straight line of the energy converter 3 and the range finder.
Further, the ranging lens barrel 47 is respectively aligned to the attitude transducer 2 and the energy converter 3, to measure
Attitude transducer 2 and the energy converter 3 are stated to the distance l of the range finder 42And l1, the attitude transducer 2 and the ranging
The angle α of 4 place straight line of machine and 4 place straight line of the energy converter 3 and the range finder.
Further, the distance that the attitude transducer 2 arrives 4 place straight line of the energy converter 3 and the range finder is obtained
Hang down point E, the range finder 4 is moved to the vertical point E of the distance by the telescopic fixing rod, then automatic spring is changed with described
Straight line is in conplane indicating arm 45 where energy device 3 and the range unit.Specifically, the face that the range finder 4 is specified is
Face 45 place straight line of the indicating arm, hang down where the range finder 4 point and the energy converter 3 this moment where is changed described in measurement
The angle γ in the face that energy device 3 and 4 place straight line of the range finder are specified with the range finder 4.
Preferably, due to distance l1、l2And l3It measures respectively twice, in order to keep measurement result more accurate, is executing S3
Later, further include following steps：According to the data of 4 gained of the range finder, the average value of distance between identical equipment is sought.
In the method for building up of the ship basis coordinates system provided by the present invention, in step s 4, according to measurement angle and
The average value for calculating gained is origin with the positioning system 1, the attitude transducer 2 or the energy converter 3, described in calculating
The coordinate of positioning system 1, the attitude transducer 2 and the energy converter 3 constructs the ship basis coordinates system.
The present invention provides a kind of ship basis coordinates systems, including：
Positioning system, attitude transducer, energy converter at the different location of surveying vessel and range finder, if described fixed
Position system, the attitude transducer, the energy converter and the range finder coordinate be respectively A (XA, YA, ZA), B (XB, YB,
ZB), C (XC, YC, ZC) and D (XD, YD, ZD), then meet,
Wherein, l1Indicate the energy converter to the distance of the range finder；l2Indicate the attitude transducer to the ranging
The distance of machine；l3Indicate the positioning system to the distance of the range finder；α represents ∠ CDB；θ represents ∠ ADC；β represents ∠
ADB；The angle in the face that straight line where γ represents the energy converter and the range finder is specified with the range finder.l1, l2, l3, α,
This six parameters of β, θ can be measured by the range finder 4 to be obtained.
Further, the distance that the attitude transducer 2 arrives 4 place straight line of the energy converter 3 and the range finder is obtained
Hang down point E, and the range finder 4 is moved to the vertical point E of the distance by the telescopic fixing rod.Preferably, the range finder 4 wraps
An indicating arm 45 is included, 45 place straight line of the indicating arm is with the energy converter 3 in same plane.Measure the energy converter 3 and institute
State the angle γ of 4 place straight line of range finder and 3 place face of 45 place straight line of the indicating arm and the energy converter.
Then, equation solution is carried out according to known 7 parameters, you can obtain positioning system 1, attitude transducer 2 changes
The coordinate of energy 3 three of device.
Specifically, can be using the energy converter 3, positioning system 1 or attitude transducer 2 any one equipment as origin, meter
Calculate the positioning system 1, the attitude transducer 2 and the energy converter 3 coordinate.Referring to FIG. 3, with described in the present embodiment
The coordinate points of energy converter 3 are the origin of coordinate system, are calculated with facilitating.
It is common, the ship basis coordinates are established according to the coordinate of determining positioning system 1, attitude transducer 2, energy converter 3
System, the ship basis coordinates system can be used in all kinds of range-measurement systems.
To sum up, in ship basis coordinates system provided by the present invention and its method for building up, by positioning system, attitude transducer
It is installed at the different location of surveying vessel with energy converter；Pass through the distance between equipment in ranging camera lens measuring system and angle；
Be conducive to keep measurement result more accurate.By the distance between clear devices in system and angle, in computing system between equipment
Position relationship, to calculate the coordinate of the positioning system, the attitude transducer and the energy converter；It is built by coordinate
The ship basis coordinates system.The ship basis coordinates system is established in the present invention only needs one man operation, you can is quickly obtained hull seat
Mark data；So that measurement work is become convenient and efficient, ranging operation can be carried out whenever and wherever possible, and improve range accuracy, reduces
Error during ship basis coordinates system construction in a systematic way is vertical, is conducive to the quality control of range-measurement system, improves operating efficiency.
The preferred embodiment of the present invention is above are only, does not play the role of any restrictions to the present invention.Belonging to any
Those skilled in the art, in the range of not departing from technical scheme of the present invention, to the invention discloses technical solution and
Technology contents make the variations such as any type of equivalent replacement or modification, belong to the content without departing from technical scheme of the present invention, still
Within belonging to the scope of protection of the present invention.
Claims (10)
1. a kind of method for building up of ship basis coordinates system, which is characterized in that include the following steps：
S1：Positioning system, attitude transducer and energy converter are mounted at the different location of surveying vessel；
S2：The both ends of telescopic fixing rod are separately mounted on range finder and the energy converter；
S3：The range finder measures the positioning system, the attitude transducer and the energy converter relative to the survey respectively
Distance away from machine and direction, the distance of straight line where measuring the attitude transducer to the energy converter and the range finder, are surveyed
The angle in the face that straight line where measuring the energy converter and the range finder is specified with the range finder；
S4：Using the positioning system, the attitude transducer or the energy converter as origin, the positioning system, described is calculated
The coordinate of attitude transducer and the energy converter constructs the ship basis coordinates system.
2. the method for building up of ship basis coordinates system as described in claim 1, which is characterized in that the range finder includes two surveys
Away from lens barrel, one end of described two ranging lens barrels is all fixed on same fixed point, and the other end is all rotated by axis of the fixed point.
3. the method for building up of ship basis coordinates system as claimed in claim 2, which is characterized in that the ranging lens barrel is Laser Measuring
Away from lens barrel.
4. the method for building up of ship basis coordinates system as claimed in claim 2, which is characterized in that in step s3, including：
The ranging lens barrel is respectively aligned to the positioning system and the attitude transducer, to measure the positioning system and described
Attitude transducer is to the distance of the range finder, straight line and the attitude transducer where the positioning system and the range finder
With the angle of straight line where the range finder；
The ranging lens barrel is respectively aligned to the positioning system and the energy converter, to measure the positioning system and the transducing
Device is to the distance of the range finder, straight line and the energy converter and the range finder where the positioning system and the range finder
The angle of place straight line；
The ranging lens barrel is respectively aligned to the attitude transducer and the energy converter, to measure the attitude transducer and described
Energy converter is to the distance of the range finder, straight line where the attitude transducer and the range finder and the energy converter and described
The angle of straight line where range finder.
5. the method for building up of ship basis coordinates system as claimed in claim 4, which is characterized in that after executing S3, further include
Following steps：According to the data obtained by the range finder, the average value of distance between identical equipment is sought.
6. the method for building up of ship basis coordinates system as claimed in claim 5, which is characterized in that in step s 4, according to measurement
Angle and calculate gained average value, calculate the positioning system, the attitude transducer and the energy converter coordinate.
7. the method for building up of ship basis coordinates system as described in claim 1, which is characterized in that the range finder is arranged described
Right over energy converter.
8. the method for building up of ship basis coordinates system as described in claim 1, which is characterized in that the range finder includes an instruction
Bar, the specified face of the range finder are straight line where the indicating arm and the face where the energy converter.
9. a kind of ship basis coordinates system, which is characterized in that including：
Positioning system, attitude transducer, energy converter at the different location of surveying vessel and range finder, if the positioning is
The coordinate of system, the attitude transducer, the energy converter and the range finder is respectively A (XA, YA, ZA), B (XB, YB, ZB), C
(XC, YC, ZC) and D (XD, YD, ZD), then meet,
Wherein, l1Indicate the energy converter to the distance of the range finder；l2Indicate the attitude transducer to the range finder
Distance；l3Indicate the positioning system to the distance of the range finder；α represents ∠ CDB；θ represents ∠ ADC；β represents ∠ ADB；γ
The angle in the face that straight line where representing the energy converter and the range finder is specified with the range finder.
10. ship basis coordinates system as claimed in claim 9, which is characterized in that the range finder includes an indicating arm, the survey
It is straight line where the indicating arm and the face where the energy converter away from the face that machine is specified.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810354083.2A CN108344421B (en) | 2018-04-19 | 2018-04-19 | Ship-based coordinate system and establishment method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810354083.2A CN108344421B (en) | 2018-04-19 | 2018-04-19 | Ship-based coordinate system and establishment method thereof |
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| Publication Number | Publication Date |
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| CN108344421A true CN108344421A (en) | 2018-07-31 |
| CN108344421B CN108344421B (en) | 2024-01-23 |
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| CN201810354083.2A Active CN108344421B (en) | 2018-04-19 | 2018-04-19 | Ship-based coordinate system and establishment method thereof |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080269965A1 (en) * | 2006-12-28 | 2008-10-30 | Luk-Paszyc Jerzy W | Calibration of ship attitude reference |
| CN102305621A (en) * | 2011-07-18 | 2012-01-04 | 北京航天福道高技术股份有限公司 | Hydrological comprehensive measurement device |
| US20170284806A1 (en) * | 2016-03-31 | 2017-10-05 | Cameron International Corporation | Subsea navigation systems and methods |
-
2018
- 2018-04-19 CN CN201810354083.2A patent/CN108344421B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080269965A1 (en) * | 2006-12-28 | 2008-10-30 | Luk-Paszyc Jerzy W | Calibration of ship attitude reference |
| CN102305621A (en) * | 2011-07-18 | 2012-01-04 | 北京航天福道高技术股份有限公司 | Hydrological comprehensive measurement device |
| US20170284806A1 (en) * | 2016-03-31 | 2017-10-05 | Cameron International Corporation | Subsea navigation systems and methods |
Non-Patent Citations (2)
| Title |
|---|
| 唐秋华等: "超短基线声学定位系统的校准技术研究", 《声学技术》 * |
| 唐秋华等: "超短基线声学定位系统的校准技术研究", 《声学技术》, no. 04, 31 August 2006 (2006-08-31), pages 1 - 3 * |
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| CN108344421B (en) | 2024-01-23 |
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