CA2640651A1 - Method and apparatus for acquiring satellite positioning system signals - Google Patents

Method and apparatus for acquiring satellite positioning system signals Download PDF

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Publication number
CA2640651A1
CA2640651A1 CA002640651A CA2640651A CA2640651A1 CA 2640651 A1 CA2640651 A1 CA 2640651A1 CA 002640651 A CA002640651 A CA 002640651A CA 2640651 A CA2640651 A CA 2640651A CA 2640651 A1 CA2640651 A1 CA 2640651A1
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Prior art keywords
sps
estimated
receiver
time
satellite
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Granted
Application number
CA002640651A
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French (fr)
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CA2640651C (en
Inventor
Norman F. Krasner
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SnapTrack Inc
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Snaptrack, Inc.
Norman F. Krasner
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Priority to CA2640651A priority Critical patent/CA2640651C/en
Publication of CA2640651A1 publication Critical patent/CA2640651A1/en
Application granted granted Critical
Publication of CA2640651C publication Critical patent/CA2640651C/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
    • G01S19/25—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS
    • G01S19/252—Employing an initial estimate of location in generating assistance data
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G01S19/05—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing aiding data
    • G01S19/06—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing aiding data employing an initial estimate of the location of the receiver as aiding data or in generating aiding data
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G01S19/07—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections
    • G01S19/071—DGPS corrections
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
    • G01S19/235—Calibration of receiver components
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
    • G01S19/28—Satellite selection
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
    • G01S19/30—Acquisition or tracking or demodulation of signals transmitted by the system code related
    • H—ELECTRICITY
    • H03—ELECTRONIC CIRCUITRY
    • H03J—TUNING RESONANT CIRCUITS; SELECTING RESONANT CIRCUITS
    • H03J7/00—Automatic frequency control; Automatic scanning over a band of frequencies
    • H03J7/02—Automatic frequency control
    • H03J7/04—Automatic frequency control where the frequency control is accomplished by varying the electrical characteristics of a non-mechanically adjustable element or where the nature of the frequency controlling element is not significant
    • H—ELECTRICITY
    • H03—ELECTRONIC CIRCUITRY
    • H03J—TUNING RESONANT CIRCUITS; SELECTING RESONANT CIRCUITS
    • H03J7/00—Automatic frequency control; Automatic scanning over a band of frequencies
    • H03J7/02—Automatic frequency control
    • H03J7/04—Automatic frequency control where the frequency control is accomplished by varying the electrical characteristics of a non-mechanically adjustable element or where the nature of the frequency controlling element is not significant
    • H03J7/047—Automatic frequency control using an auxiliary signal, e.g. low frequency scanning of the locking range or superimposing a special signal on the input signal
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B1/00—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission
    • H04B1/0003—Software-defined radio [SDR] systems, i.e. systems wherein components typically implemented in hardware, e.g. filters or modulators/demodulators, are implented using software, e.g. by involving an AD or DA conversion stage such that at least part of the signal processing is performed in the digital domain
    • H04B1/0007—Software-defined radio [SDR] systems, i.e. systems wherein components typically implemented in hardware, e.g. filters or modulators/demodulators, are implented using software, e.g. by involving an AD or DA conversion stage such that at least part of the signal processing is performed in the digital domain wherein the AD/DA conversion occurs at radiofrequency or intermediate frequency stage
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B1/00—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission
    • H04B1/06—Receivers
    • H04B1/16—Circuits
    • H04B1/26—Circuits for superheterodyne receivers
    • H04B1/28—Circuits for superheterodyne receivers the receiver comprising at least one semiconductor device having three or more electrodes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G01S19/07—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G01S19/09—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing processing capability normally carried out by the receiver
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S2205/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S2205/001—Transmission of position information to remote stations
    • G01S2205/008—Transmission of position information to remote stations using a mobile telephone network
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/0009—Transmission of position information to remote stations
    • G01S5/0018—Transmission from mobile station to base station
    • G01S5/0027—Transmission from mobile station to base station of actual mobile position, i.e. position determined on mobile
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B1/00—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B1/00—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission
    • H04B1/38—Transceivers, i.e. devices in which transmitter and receiver form a structural unit and in which at least one part is used for functions of transmitting and receiving
    • H04B1/3805—Transceivers, i.e. devices in which transmitter and receiver form a structural unit and in which at least one part is used for functions of transmitting and receiving with built-in auxiliary receivers

Abstract

A method and an apparatus which acquire satellite positioning system (SPS) signals in an SPS receiver.
Information on time of day, approximate receiver location, and satellite positions are used to reduce the time to search and acquire signals from one or more SPS satellites.
In an example of a method of the invention, a first pseudorange to a first SPS satellite is determined, and an approximate location of the SPS receiver is determined. An estimated pseudorange for a second pseudorange to a second SPS satellite is determined from the approximate location and a satellite position of the second SPS satellite. The SPS receiver then searches for SPS signals from the second SPS satellite in a range determined by the estimated pseudorange. Typically, this method reduces the search time to initially acquire SPS signals from the second SPS
satellite, and the estimated pseudorange is not based on a previously determined pseudorange for said second SPS
satellite. In a particular example of the invention, the approximate location is determined from a cell based information source which correlates an identification of each of various wireless cell sites with an approximate location for objects within a cell of a wireless cell based communication system, such as a cellular (or cell based) telephone system. In other examples of the invention, relatively precise time of day information may be used with information indicating satellite positions and information indicating the approximate location to determine an estimated pseudorange for a first SPS satellite to be acquired.

Claims (31)

1. A method for reducing search time to acquire satellite positioning system (SPS) signals in a satellite positioning system (SPS) receiver, said method comprising:

determining a time of day at said SPS receiver;
obtaining a set of mathematical descriptions of estimated ranges versus time, said estimated ranges being from said SPS receiver to said SPS satellites viewable by said SPS receiver;

determining an estimated pseudorange for at least one SPS satellite, said estimated pseudorange being determined from said time of day and from said set of mathematical descriptions;

searching for time of arrival of SPS signals from said SPS satellite in a range determined by said estimated pseudorange.
2. A method as in claim 1 wherein said set of mathematical descriptions is received from an external source.
3. A method as in claim 2 wherein said search time is to initially acquire said SPS signals and wherein said estimated pseudorange is one of an estimated time of arrival of SPS signals from said SPS satellite or an estimated distance to said SPS satellite from said SPS receiver, and wherein said searching is over time intervals determined by said estimated pseudorange.
4. A method as in claim 2 wherein said range is based on an error associated with at least one of said time of day and said set of mathematical descriptions.
5. A method as in claim 2 further comprising determining a first pseudorange to a first SPS satellite and wherein said estimated pseudorange is determined also from said first pseudorange, and wherein said time of day is approximate.
6. A method as in claim 2 wherein said set of mathematical descriptions uses an approximate location of said SPS receiver obtained from a cell based information source.
7. A method as in claim 6 wherein said approximate location is received at said SPS receiver from said cell based information source.
8. A method as in claim 6 wherein said cell based information source is coupled to a location server and wherein said approximate location represents a location of a cell object in a cell based communication system.
9. A method as in claim 8 wherein said cell object is a wireless cell site in said cell based communication system.
10. A method as in claim 8 wherein said location server determines said approximate location from said cell based information source by determining an identification of a wireless cell site which is in wireless communication with a wireless communication system which is coupled to said SPS
receiver.
11. A method as in claim 10 wherein said location server determines said set of mathematical descriptions and causes said set of mathematical descriptions to be transmitted to said SPS receiver.
12. A method as in claim 2 further comprising:

receiving a precision carrier frequency signal from a source providing said precision carrier frequency signal;

automatically locking to said precision carrier frequency signal and providing a reference signal;

using said reference signal to provide a local oscillator signal to acquire SPS signals.
13. A method as in claim 2 wherein said time of day is accurate to within a framing period of said SPS signals.
14. A satellite positioning system (SPS) receiver comprising:

an SPS antenna which is configured to receive SPS
signals;

a processor coupled to said SPS antenna, said processor determining a time of day at said SPS receiver and searching for time of arrival of SPS signals from an SPS
satellite in a range determined by an estimated pseudorange to said SPS satellite, said estimated pseudorange being determined from said time of day and from a set of mathematical descriptions of estimated ranges versus time, said estimated ranges being from said SPS receiver to said SPS satellites viewable by said SPS receiver.
15. An SPS receiver as in claim 14 further comprising a communication system which is coupled to said processor, wherein said communication system receives said set of mathematical descriptions and provides said set of mathematical descriptions to said processor.
16. An SPS receiver as in claim 14 further comprising a cell based communication system which is coupled to said processor, wherein said cell based communication system receives a message specifying said time of day and provides said time of day to said processor.
17. An SPS receiver as in claim 14 wherein said processor determines a first pseudorange to a first SPS
satellite when said time of day is approximate to within 10 minutes and wherein said estimated pseudorange is also determined from said first pseudorange.
18. An SPS receiver as in claim 14 wherein said estimated pseudorange is one of an estimated time of arrival of SPS signals from said SPS satellite or an estimated distance to said SPS satellite from said SPS receiver, and wherein said searching is over time intervals determined by said estimated pseudorange.
19. An SPS receiver as in claim 14 wherein said processor comprises a matched filter which performs said searching.
20. A digital processing system comprising:
a communication interface;

a storage device;

a processor coupled to said storage device and to said communication interface, said processor determining an approximate location of a mobile satellite positioning system (SPS) receiver which is capable of communication with said digital processing system through said communication interface and wherein said processor determines a set of mathematical descriptions of estimated ranges versus time, said estimated ranges being from said SPS receiver to said SPS satellites viewable by said SPS receiver, said set of mathematical expressions being determined from said approximate location and wherein said set of mathematical expressions is transmitted through said communication interface to said mobile SPS receiver.
21. A digital processing system as in claim 20 wherein said approximate location is obtained from a cell based information source which is stored in said storage device.
22. A digital processing system as in claim 21 wherein said cell based information source provides approximate location information for objects in a cell of a wireless cell based communication system.
23. A digital processing system as in claim 21 wherein said approximate location represents a location of a cell object in a wireless cell based communication system.
24. A digital processing system as in claim 23 wherein said cell object is a wireless cell site in said wireless cell based communication system.
25. A digital processing system as in claim 23 wherein said approximate location is determined from said cell based information source by determining an identification of a wireless cell site which is in wireless communication with a wireless communication system which is coupled to said mobile SPS receiver.
26. A computer readable medium containing executable computer program instructions which, when executed by a data processing system, cause said data processing system to perform a method comprising:

determining an approximate location of a mobile satellite positioning system (SPS) receiver;

determining a set of mathematical descriptions of estimated ranges versus time, said estimated ranges being from said SPS receiver to SPS satellites viewable by said SPS receiver, said set of mathematical descriptions being determined from said approximate location; transmitting said set of mathematical descriptions to said mobile SPS
receiver.
27. A method as in claim 1 wherein said set of mathematical descriptions comprises an estimated range to an SPS satellite and a rate of change of said estimated range over time.
28. A method as in claim 1 wherein said set of mathematical descriptions comprises a polynomial function of time.
29. A method as in claim 1 wherein said SPS receiver uses a matched filter to search for said SPS signals.
30. A method as in claim 1 wherein said SPS receiver determines said time of day from a communication signal in a cell based communication system.
31. A method as in claim 30 wherein said cell based communication system comprises a CDMA (code division multiple access) system.
CA2640651A 1998-08-11 1999-07-15 Method and apparatus for acquiring satellite positioning system signals Expired - Lifetime CA2640651C (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CA2640651A CA2640651C (en) 1998-08-11 1999-07-15 Method and apparatus for acquiring satellite positioning system signals

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US09/132,556 1998-08-11
US09/132,556 US6133874A (en) 1996-03-08 1998-08-11 Method and apparatus for acquiring satellite positioning system signals
CA002339999A CA2339999C (en) 1998-08-11 1999-07-15 Method and apparatus for acquiring satellite positioning system signals
CA2640651A CA2640651C (en) 1998-08-11 1999-07-15 Method and apparatus for acquiring satellite positioning system signals

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CA002339999A Division CA2339999C (en) 1998-08-11 1999-07-15 Method and apparatus for acquiring satellite positioning system signals

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CA2640651A1 true CA2640651A1 (en) 2000-06-22
CA2640651C CA2640651C (en) 2012-04-10

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EP (1) EP1108223B9 (en)
JP (3) JP5128732B2 (en)
KR (1) KR100672266B1 (en)
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AT (1) ATE497176T1 (en)
AU (1) AU755817C (en)
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