CN116520867A - Aircraft attitude display control method and control system - Google Patents
Aircraft attitude display control method and control system Download PDFInfo
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- CN116520867A CN116520867A CN202310380991.XA CN202310380991A CN116520867A CN 116520867 A CN116520867 A CN 116520867A CN 202310380991 A CN202310380991 A CN 202310380991A CN 116520867 A CN116520867 A CN 116520867A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
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Abstract
The invention relates to the technical field of geographical information situation display, in particular to an aircraft gesture display control method and control system, comprising the following steps: three-dimensional modeling is carried out on the aircraft, and an axis point of the model, a pitch angle and a yaw angle of an initial posture of the model are determined; calculating a theoretical posture corresponding to the theoretical track according to the historical data; receiving and processing real-time positioning data from ground measurement and control equipment, and calculating the actual attitude of the aircraft in the flight process; in the actual flight process of the aircraft, calculating the actual flight speed of the aircraft through the positioning data, judging the deviation between the actual flight speed and the theoretical flight speed, calibrating the theoretical gesture according to the current space position if the deviation exceeds a first preset threshold, otherwise, replacing the actual gesture with the theoretical gesture if the deviation is within the first preset threshold range, and displaying the theoretical gesture. The aircraft model has stable and smooth posture change, no shaking or even reverse rotation, and good display effect.
Description
Technical Field
The invention relates to the technical field of geographical information situation display, in particular to an aircraft gesture display control method and system.
Background
Along with the continuous expansion of the application field of the aircraft, the comprehensive situation display of the aircraft becomes an important aspect in the process of guaranteeing the flight of the aircraft, and the attitude of the aircraft is one of the very important factors influencing the situation display and display effect, is an important factor for judging the navigation state of the aircraft, and has important application value in the aspect of auxiliary decision. Because of the wide range of aircraft flying speeds, it is difficult for the external test device to obtain accurate attitude data for all types of aircraft. How to smoothly and stably display the attitude of an aircraft becomes a problem to be solved.
Disclosure of Invention
The invention provides an aircraft attitude display control method and control, which are used for controlling aircraft attitude display. The technical scheme is as follows:
in one aspect, an aircraft attitude display control method is provided, including:
three-dimensional modeling is carried out on the aircraft, and an axis point of the model, a pitch angle and a yaw angle of an initial posture of the model are determined;
calculating a theoretical posture corresponding to the theoretical track according to the historical data;
receiving and processing real-time positioning data from ground measurement and control equipment, and calculating the actual attitude of the aircraft in the flight process;
in the actual flight process of the aircraft, calculating the actual flight speed of the aircraft through the positioning data, judging the deviation between the actual flight speed and the theoretical flight speed, calibrating the theoretical gesture according to the current space position if the deviation exceeds a first preset threshold, otherwise, replacing the actual gesture with the theoretical gesture if the deviation is within the first preset threshold range, and displaying the theoretical gesture.
Optionally, if the deviation is within the first preset threshold range, the method further comprises: and judging the deviation condition of the actual gesture and the theoretical gesture in a period of time, and if the deviation exceeds a second preset threshold in the period of time, displaying the actual gesture of the aircraft and giving out a warning.
Optionally, calculating the theoretical pose corresponding to the theoretical track according to the historical data specifically includes:
analyzing the historical data, and thinning the whole historical data after removing large outliers to obtain smooth theoretical orbit data of the aircraft, wherein the theoretical orbit data comprises a theoretical orbit and a theoretical flight speed;
through the points a (X 1 ,Y 1 ,Z 1 ) And point B (X) 2 ,Y 2 ,Z 2 ) The pitch angle theta and the yaw angle phi of the point A are calculated, and the calculation process is as shown in formulas (1) - (4), so that the theoretical gesture corresponding to the theoretical track can be obtained, and any point in the theoretical track has the corresponding flight time,
dis2＝dis*cosθ (3)
optionally, the determining the deviation between the actual flight speed and the theoretical flight speed specifically includes:
at a certain moment, by calculating the spatial position, the aircraft should be near a theoretical coordinate point flying according to the theoretical flying speed, if the position of the aircraft from the theoretical coordinate point exceeds the first preset threshold value, the theoretical trajectory needs to be corrected, a theoretical trajectory is recalculated, and then a theoretical gesture is recalculated.
Optionally, the determining a deviation condition of the actual gesture and the theoretical gesture in a period of time specifically includes:
and displaying the actual attitude of the aircraft and giving a warning when the deviation of the pitch angle and the yaw angle exceeds a second preset threshold value in a continuous period of time.
In another aspect, an aircraft attitude display control system is provided, comprising:
the three-dimensional modeling module is used for carrying out three-dimensional modeling on the aircraft and determining an axis point of the model, a pitch angle and a yaw angle of the initial posture of the model;
the first calculation module is used for calculating a theoretical gesture corresponding to the theoretical track according to the historical data;
the second calculation module is used for receiving and processing the real-time positioning data from the ground measurement and control equipment and calculating the actual attitude of the aircraft in the flight process;
and the control module is used for calculating the actual flight speed of the aircraft according to the positioning data in the actual flight process of the aircraft, judging the deviation between the actual flight speed and the theoretical flight speed, calibrating the theoretical gesture according to the current space position if the deviation exceeds a first preset threshold value, and if not, replacing the actual gesture with the theoretical gesture for display if the deviation is within the first preset threshold value range.
Optionally, if the deviation is within the first preset threshold range, the control module is further configured to: and judging the deviation condition of the actual gesture and the theoretical gesture in a period of time, and if the deviation exceeds a second preset threshold in the period of time, displaying the actual gesture of the aircraft and giving out a warning.
Optionally, the first computing module is specifically configured to:
analyzing the historical data, and thinning the whole historical data after removing large outliers to obtain smooth theoretical orbit data of the aircraft, wherein the theoretical orbit data comprises a theoretical orbit and a theoretical flight speed;
through the points a (X 1 ,Y 1 ,Z 1 ) And point B (X) 2 ,Y 2 ,Z 2 ) The pitch angle theta and the yaw angle phi of the point A are calculated, and the calculation process is as shown in formulas (1) - (4), so that the theoretical gesture corresponding to the theoretical track can be obtained, and any point in the theoretical track has the corresponding flight time,
dis2＝dis*cosθ (3)
in another aspect, an electronic device is provided that includes a processor and a memory having at least one instruction stored therein, the at least one instruction loaded and executed by the processor to implement the aircraft attitude display control method described above.
In another aspect, a computer readable storage medium having stored therein at least one instruction that is loaded and executed by a processor to implement the above-described aircraft attitude display control method is provided.
Compared with the prior art, the technical scheme has at least the following beneficial effects:
(1) The attitude change of the aircraft model is stable and smooth, no shake or even inversion occurs, and the display effect is good;
(2) The algorithm has strong adaptability, strong anti-interference capability and strong robustness;
(3) The response speed is high, the additional calculation cost is small, and the application range is wide.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method for controlling the attitude display of an aircraft according to an embodiment of the present invention;
FIG. 2 is a flowchart of a method for controlling the attitude display of an aircraft according to another embodiment of the present invention;
FIG. 3 is a block diagram of an aircraft attitude display control system provided by an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. It will be apparent that the described embodiments are some, but not all, embodiments of the invention. All other embodiments, which can be made by a person skilled in the art without creative efforts, based on the described embodiments of the present invention fall within the protection scope of the present invention.
As shown in fig. 1, an embodiment of the present invention provides an aircraft attitude display control method, including:
s1, carrying out three-dimensional modeling on an aircraft, and determining an axis point of the model, and a pitch angle and a yaw angle of an initial posture of the model;
s2, calculating a theoretical posture corresponding to the theoretical track according to the historical data;
s3, receiving and processing real-time positioning data from ground measurement and control equipment, and calculating the actual attitude of the aircraft in the flight process;
s4, calculating the actual flight speed of the aircraft through the positioning data in the actual flight process of the aircraft, judging the deviation between the actual flight speed and the theoretical flight speed, calibrating the theoretical gesture according to the current space position if the deviation exceeds a first preset threshold, otherwise, replacing the actual gesture with the theoretical gesture if the deviation is within the first preset threshold range, and displaying the theoretical gesture.
The following describes in detail an aircraft attitude display control method according to an embodiment of the present invention with reference to fig. 2, including:
s1, carrying out three-dimensional modeling on an aircraft, and determining an axis point of the model, and a pitch angle and a yaw angle of an initial posture of the model;
specifically, three-dimensional modeling is carried out on an aircraft, an axis point of the model is determined, and a pitching angle theta of an initial attitude of the model is determined by taking a machine body coordinate system as a reference 0 And yaw angle phi 0 Because the rolling angle of the aircraft has small influence on situation display effect, the embodiment of the invention does not consider the change condition.
S2, calculating a theoretical posture corresponding to the theoretical track according to the historical data;
optionally, calculating the theoretical pose corresponding to the theoretical track according to the historical data specifically includes:
analyzing the historical data, and thinning the whole historical data after removing large outliers to obtain smooth or smoother theoretical orbit data of the aircraft, wherein the theoretical orbit data comprises a theoretical orbit and a theoretical flight speed;
theoretical orbits generally refer to: the historical data is thinned, a sequence of coordinate points with fixed frequency under a geocentric coordinate system is finally formed through polynomial matching algorithm processing, the sequence number represents flight time, for the convenience of calculation, 1 Hz theoretical orbit data is generally calculated finally, the series of points represent a smooth and stable theoretical track without noise points, the theoretical track can be used for calculating the theoretical gesture corresponding to each coordinate point, and the most important parameters required by the theoretical gesture are pitch angle and yaw angle, and the specific calculation method is as follows:
through the points a (X 1 ,Y 1 ,Z 1 ) And point B (X) 2 ,Y 2 ,Z 2 ) The pitch angle theta and the yaw angle phi of the point A are calculated, and the calculation process is as shown in formulas (1) - (4), so that the theoretical gesture corresponding to the theoretical track can be obtained, and any point in the theoretical track has the corresponding flight time,
dis2＝dis*cosθ (3)
the steps S1 and S2 of the embodiment of the invention have no sequence, and the step S2 can be the preceding step before the step S1, so that the embodiment of the invention does not limit the sequence of the steps, and the steps are all within the protection scope of the embodiment of the invention.
S3, receiving and processing real-time positioning data from ground measurement and control equipment, and calculating the actual attitude of the aircraft in the flight process;
the processing of positioning data mainly refers to analyzing according to a agreed protocol from a data packet, processing effective digits, units and other parameters of the data, and converting a coordinate system into space coordinate data taking a geocentric coordinate system as a reference when performing attitude calculation (the coordinate system is converted by the simplest and most direct existing algorithm, which is not repeated here), and finally obtaining positioning data which can be directly used.
S4, calculating the actual flight speed of the aircraft through the positioning data in the actual flight process of the aircraft, judging the deviation between the actual flight speed and the theoretical flight speed, calibrating the theoretical gesture according to the current space position if the deviation exceeds a first preset threshold, otherwise, replacing the actual gesture with the theoretical gesture if the deviation is within the first preset threshold range, and displaying the theoretical gesture.
Optionally, the determining the deviation between the actual flight speed and the theoretical flight speed specifically includes:
at a certain moment, by calculating the spatial position, the aircraft should be near a theoretical coordinate point flying according to the theoretical flying speed, if the position of the aircraft from the theoretical coordinate point exceeds the first preset threshold value, the theoretical trajectory needs to be corrected, a theoretical trajectory is recalculated, and then a theoretical gesture is recalculated.
For example, at 50S, the spatial position of the aircraft should be near the theoretical coordinate point of the aircraft flying at the theoretical flying speed, and after the actual flying for 50S, the position from the theoretical point exceeds a threshold (typically 1-5 km, which depends on the flying speed of the aircraft), which represents a large deviation between the actual flying speed and the theoretical flying speed, and the theoretical trajectory needs to be corrected, and then a theoretical trajectory and thus a theoretical attitude need to be recalculated. Thus, the rationality of the gesture in the actual flight process can be ensured.
Optionally, if the deviation is within the first preset threshold range, the method further comprises: and judging the deviation condition of the actual gesture and the theoretical gesture in a period of time, and if the deviation exceeds a second preset threshold in the period of time, displaying the actual gesture of the aircraft and giving out a warning.
Optionally, the determining a deviation condition of the actual gesture and the theoretical gesture in a period of time specifically includes:
and displaying the actual attitude of the aircraft and giving a warning when the deviation of the pitch angle and the yaw angle exceeds a second preset threshold value in a continuous period of time.
The second preset threshold has the main effect of constraining the actual gesture, and because the actual gesture changes too frequently and has more error values, the actual gesture and the theoretical gesture are in a certain deviation. The threshold value refers to the flying speed of the aircraft, and the deviation of the pitch angle and the yaw angle is more than 30 degrees in the continuous 5-10 seconds generally, so that the deviation is considered to be overlarge, the attitude of the aircraft is displayed by the attitude calculated in real time, and a warning is sent out (the flying state of the aircraft is indicated to be abnormal, and special treatment is needed).
Considering the complex and changeable actual situation, the embodiment of the invention adds a manual intervention function, after the function is started, the attitude of the aircraft is not calculated in real time, and when the attitude is required to be changed, the attitude is changed by using the parameters which are actually input.
According to the method provided by the embodiment of the invention, the similarity of the theoretical track and the actual track is used for carrying out a compromise on the authenticity and the gesture display effect, the calculation cost is comprehensively considered, and the problem that the fluency and the stability of gesture display of various types of aircrafts cannot be ensured under the condition of only receiving high-frequency positioning data is solved.
As shown in fig. 3, an embodiment of the present invention further provides an aircraft attitude display control system, including:
the three-dimensional modeling module 310 is configured to perform three-dimensional modeling on the aircraft, and determine an axis point of the model, and a pitch angle and a yaw angle of an initial pose of the model;
a first calculation module 320, configured to calculate a theoretical gesture corresponding to the theoretical trajectory according to the historical data;
the second calculation module 330 is configured to receive and process real-time positioning data from the ground measurement and control device, and calculate an actual attitude of the aircraft during the flight;
the control module 340 is configured to calculate an actual flight speed of the aircraft according to the positioning data during an actual flight process of the aircraft, determine a deviation between the actual flight speed and a theoretical flight speed, and calibrate the theoretical gesture according to the current spatial position if the deviation exceeds a first preset threshold, or replace the actual gesture with the theoretical gesture if the deviation is within the first preset threshold.
Optionally, if the deviation is within the first preset threshold range, the control module is further configured to: and judging the deviation condition of the actual gesture and the theoretical gesture in a period of time, and if the deviation exceeds a second preset threshold in the period of time, displaying the actual gesture of the aircraft and giving out a warning.
Optionally, the first computing module is specifically configured to:
analyzing the historical data, and thinning the whole historical data after removing large outliers to obtain smooth theoretical orbit data of the aircraft, wherein the theoretical orbit data comprises a theoretical orbit and a theoretical flight speed;
through the points a (X 1 ,Y 1 ,Z 1 ) And point B (X) 2 ,Y 2 ,Z 2 ) The pitch angle theta and the yaw angle phi of the point A are calculated, and the calculation process is as shown in formulas (1) - (4), so that the theoretical gesture corresponding to the theoretical track can be obtained, and any point in the theoretical track has the corresponding flight time,
dis2＝dis*cosθ (3)
the functional structure of the system for displaying and controlling the attitude of the aircraft provided by the embodiment of the invention corresponds to the method for displaying and controlling the attitude of the aircraft provided by the embodiment of the invention, and is not repeated here.
Fig. 4 is a schematic structural diagram of an electronic device 400 according to an embodiment of the present invention, where the electronic device 400 may have a relatively large difference due to different configurations or performances, and may include one or more processors (central processing units, CPU) 401 and one or more memories 402, where at least one instruction is stored in the memories 402, and the at least one instruction is loaded and executed by the processors 401 to implement the steps of the above-mentioned method for controlling the attitude display of an aircraft.
In an exemplary embodiment, a computer readable storage medium, such as a memory comprising instructions executable by a processor in a terminal to perform the above-described aircraft attitude display control method, is also provided. For example, the computer readable storage medium may be ROM, random Access Memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, etc.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program for instructing relevant hardware, where the program may be stored in a computer readable storage medium, and the storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.
Claims (10)
1. An aircraft attitude display control method, comprising:
three-dimensional modeling is carried out on the aircraft, and an axis point of the model, a pitch angle and a yaw angle of an initial posture of the model are determined;
calculating a theoretical posture corresponding to the theoretical track according to the historical data;
receiving and processing real-time positioning data from ground measurement and control equipment, and calculating the actual attitude of the aircraft in the flight process;
in the actual flight process of the aircraft, calculating the actual flight speed of the aircraft through the positioning data, judging the deviation between the actual flight speed and the theoretical flight speed, calibrating the theoretical gesture according to the current space position if the deviation exceeds a first preset threshold, otherwise, replacing the actual gesture with the theoretical gesture if the deviation is within the first preset threshold range, and displaying the theoretical gesture.
2. The method of claim 1, wherein if the deviation is within the first preset threshold, the method further comprises: and judging the deviation condition of the actual gesture and the theoretical gesture in a period of time, and if the deviation exceeds a second preset threshold in the period of time, displaying the actual gesture of the aircraft and giving out a warning.
3. The method according to claim 1, wherein the calculating the theoretical pose corresponding to the theoretical trajectory according to the historical data specifically includes:
analyzing the historical data, and thinning the whole historical data after removing large outliers to obtain smooth theoretical orbit data of the aircraft, wherein the theoretical orbit data comprises a theoretical orbit and a theoretical flight speed;
through the points a (X 1 ,Y 1 ,Z 1 ) And point B (X) 2 ,Y 2 ,Z 2 ) The pitch angle theta and the yaw angle phi of the point A are calculated, and the calculation process is as shown in formulas (1) - (4), so that the theoretical gesture corresponding to the theoretical track can be obtained, and any point in the theoretical track has the corresponding flight time,
dis2＝dis*cosθ (3)
4. the method according to claim 1, wherein said determining the deviation of said actual flight speed from a theoretical flight speed comprises:
at a certain moment, by calculating the spatial position, the aircraft should be near a theoretical coordinate point flying according to the theoretical flying speed, if the position of the aircraft from the theoretical coordinate point exceeds the first preset threshold value, the theoretical trajectory needs to be corrected, a theoretical trajectory is recalculated, and then a theoretical gesture is recalculated.
5. The method according to claim 2, wherein said determining a deviation of the actual pose from the theoretical pose over a period of time comprises:
and displaying the actual attitude of the aircraft and giving a warning when the deviation of the pitch angle and the yaw angle exceeds a second preset threshold value in a continuous period of time.
6. An aircraft attitude display control system, comprising:
the three-dimensional modeling module is used for carrying out three-dimensional modeling on the aircraft and determining an axis point of the model, a pitch angle and a yaw angle of the initial posture of the model;
the first calculation module is used for calculating a theoretical gesture corresponding to the theoretical track according to the historical data;
the second calculation module is used for receiving and processing the real-time positioning data from the ground measurement and control equipment and calculating the actual attitude of the aircraft in the flight process;
and the control module is used for calculating the actual flight speed of the aircraft according to the positioning data in the actual flight process of the aircraft, judging the deviation between the actual flight speed and the theoretical flight speed, calibrating the theoretical gesture according to the current space position if the deviation exceeds a first preset threshold value, and if not, replacing the actual gesture with the theoretical gesture for display if the deviation is within the first preset threshold value range.
7. The system of claim 6, wherein if the deviation is within the first preset threshold, the control module is further configured to: and judging the deviation condition of the actual gesture and the theoretical gesture in a period of time, and if the deviation exceeds a second preset threshold in the period of time, displaying the actual gesture of the aircraft and giving out a warning.
8. The system according to claim 6, wherein the first computing module is specifically configured to:
analyzing the historical data, and thinning the whole historical data after removing large outliers to obtain smooth theoretical orbit data of the aircraft, wherein the theoretical orbit data comprises a theoretical orbit and a theoretical flight speed;
through the points a (X 1 ,Y 1 ,Z 1 ) And point B (X) 2 ,Y 2 ,Z 2 ) The pitch angle theta and the yaw angle phi of the point A are calculated, and the calculation process is as shown in formulas (1) - (4), so that the theoretical gesture corresponding to the theoretical track can be obtained, and any point in the theoretical track has the corresponding flight time,
dis2＝dis*cosθ (3)
9. an electronic device comprising a processor and a memory having at least one instruction stored therein, wherein the at least one instruction is loaded and executed by the processor to implement the aircraft attitude display control method according to any one of claims 1-5.
10. A computer readable storage medium having stored therein at least one instruction, wherein the at least one instruction is loaded and executed by a processor to implement the aircraft attitude display control method according to any one of claims 1-5.
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| CN202310380991.XA CN116520867A (en) | 2023-04-11 | 2023-04-11 | Aircraft attitude display control method and control system |
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Citations (4)
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|---|---|---|---|---|
| FR2883650A1 (en) * | 2005-03-24 | 2006-09-29 | Airbus France Sas | Aircraft e.g. cargo aircraft, piloting assisting method for use during e.g. take-off phase, involves displaying, in superposition of environment seen in front of aircraft, horizon line and attitude difference indication symbol on screen |
| CN103424115A (en) * | 2013-07-19 | 2013-12-04 | 上海理工大学 | Micro miniature aircraft ground test attitude recorder |
| CN113156991A (en) * | 2021-02-05 | 2021-07-23 | 北京林业大学 | Flight evaluation system and method based on small multi-rotor aircraft |
| WO2022036500A1 (en) * | 2020-08-17 | 2022-02-24 | 深圳市大疆创新科技有限公司 | Flight assisting method for unmanned aerial vehicle, device, chip, system, and medium |
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2023
- 2023-04-11 CN CN202310380991.XA patent/CN116520867A/en active Pending
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| FR2883650A1 (en) * | 2005-03-24 | 2006-09-29 | Airbus France Sas | Aircraft e.g. cargo aircraft, piloting assisting method for use during e.g. take-off phase, involves displaying, in superposition of environment seen in front of aircraft, horizon line and attitude difference indication symbol on screen |
| CN103424115A (en) * | 2013-07-19 | 2013-12-04 | 上海理工大学 | Micro miniature aircraft ground test attitude recorder |
| WO2022036500A1 (en) * | 2020-08-17 | 2022-02-24 | 深圳市大疆创新科技有限公司 | Flight assisting method for unmanned aerial vehicle, device, chip, system, and medium |
| CN113156991A (en) * | 2021-02-05 | 2021-07-23 | 北京林业大学 | Flight evaluation system and method based on small multi-rotor aircraft |
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| Title |
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| 丁倩雯: "无人机飞行姿态可视化无线监测系统的设计", 《鞍山师范学院学报》, vol. 20, no. 6, 11 December 2018 (2018-12-11), pages 50 - 56 * |
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