CA2388743A1 - Method and apparatus for determining the position location using reduced number of gps satellites and synchronized and unsynchronized base stations - Google Patents

Method and apparatus for determining the position location using reduced number of gps satellites and synchronized and unsynchronized base stations Download PDF

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Publication number
CA2388743A1
CA2388743A1 CA002388743A CA2388743A CA2388743A1 CA 2388743 A1 CA2388743 A1 CA 2388743A1 CA 002388743 A CA002388743 A CA 002388743A CA 2388743 A CA2388743 A CA 2388743A CA 2388743 A1 CA2388743 A1 CA 2388743A1
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Prior art keywords
time
wireless communication
communication device
signals
base station
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CA002388743A
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French (fr)
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CA2388743C (en
Inventor
Samir S. Soliman
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Qualcomm Inc
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Qualcomm Incorporated
Samir S. Soliman
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Publication of CA2388743A1 publication Critical patent/CA2388743A1/en
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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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/74—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems
    • G01S13/82—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems wherein continuous-type signals are transmitted
    • 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
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G01S19/10—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing dedicated supplementary positioning signals
    • G01S19/12—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing dedicated supplementary positioning signals wherein the cooperating elements are telecommunication base stations
    • 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
    • G01S19/25—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS
    • 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
    • G01S19/40—Correcting position, velocity or attitude
    • G01S19/41—Differential correction, e.g. DGPS [differential GPS]
    • 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
    • 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
    • G01S5/0045—Transmission from base station to mobile station
    • G01S5/0054—Transmission from base station to mobile station of actual mobile position, i.e. position calculation on base station
    • 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
    • G01S5/009—Transmission of differential positioning data to mobile
    • 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
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0205—Details
    • G01S5/021—Calibration, monitoring or correction
    • 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
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/10—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements, e.g. omega or decca systems
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • 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
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0205—Details
    • G01S5/0236—Assistance data, e.g. base station almanac

Abstract

A method and apparatus for determining the position of a wireless communication device using global positioning system (GPS) satellites, base stations synchronized to GPS time and base stations that are unsynchronized with GPS time. The unsynchronized base stations are synchronized with one another. Time of arrival information is adjusted to take into account the fact that wireless communication devices that received GPS time information from a base station receive that information biased by the one-way delay that is encountered by the signal that communicates that information to the wireless communication device. In addition, time difference of arrival information for base stations that are not synchronized to GPS time allows the bias between these base stations GPS time to be eliminated.

Claims (39)

1. A system for synchronizing time of arrival measurements made within a wireless communication device to global positioning system (GPS) time, comprising:
a) a receiver configured to receive:
i) time of arrival measurements made at the wireless communication system;
and ii) signals from an external source synchronized to GPS time, the signals received from the external source including an indication from which the amount of delay encountered by a signal transmitted between the external source and the wireless communication device can be determined; and b) processing circuitry configured to adjust the received time of arrival measurements by an amount equal to the delay encountered by a signal transmitted between the external source and the wireless communication device.
2. The system of Claim 1, wherein the indication from which the amount of delay can be determined is an indication of the amount of delay encountered by a signal making a round trip between the base station and the wireless communication device.
3. The system of Claim 1, wherein the indication from which the amount of delay can be determined is a direct indication of the amount of delay encountered by a signal transmitted from the base station to the wireless communication device.
4. A wireless positioning function, for use in a communication system that has base stations configured to provide global positioning system (GPS) time to a wireless communication device, and to determine the delay encountered by signals transmitted from the base station providing GPS time to the wireless communication device, the wireless positioning function configured to:
a) receive:

i) time of arrival information, associated with signals received by the wireless communication device from at least one device that is remote from the wireless communication device, the at least one device including at least one communication system base station, and the time of arrival information being referenced to a system clock within the wireless communication system, the system clock being offset from GPS time; and ii) signals from which the offset between the GPS time and system time can be determined; and b) determine the location of the wireless communication device based upon the received information.
5. The wireless positioning function of Claim 4, wherein the at least one device includes at least one global positioning system (GPS) satellite.
6. The wireless positioning function of Claim 4, wherein the at least one device includes n - m satellites and m base stations, each base station being synchronized to each other base station, and the location is determined for an (n + m)-dimensional location solution, and wherein n and m are non-negative integers, including zero and where values of (n + m) greater than 3 provide an over-determined 3-dimensional solution.
7. The wireless positioning function of Claim 4, wherein the at least one device includes n satellites, and the location is determined for an n-dimensional location solution.
8. The wireless positioning function of Claim 4, wherein the at least one device includes n satellites, m base stations synchronized to GPS time, and p base stations synchronized to each other, and the location is determined for an (n+m+p-1)-dimensional solution, wherein n is non-negative integer, including zero, m is an integer greater than zero, and p is an integer greater than one, and where values of (n+m+p-1) greater than 3 provide an over-determined 3-dimensional solution.
9. The system of Claim 4, wherein the wireless positioning function resides within a base station transceiver subsystem.
10. The system of Claim 4, wherein the wireless positioning function resides within a base station controller.
11. The system of Claim 4, wherein the wireless positioning function resides within a dedicated position determination device.
12. The system of Claim 4, wherein the wireless positioning function resides within the wireless communication device.
13. A system for synchronizing a wireless communication device to global positioning system (GPS) time, comprising:
a) a receiver configured to receive signals from an external source synchronized to GPS time, the signals received from the external source including an indication from which the amount of delay encountered by a signal transmitted between the external source and the receiver can be determined, and an indication of GPS
time at the time the signal that includes the indication of GPS time is transmitted from the base station; and b) time/frequency circuitry, including:
i) a clock; and ii) processing circuitry configured to synchronize the clock to the received GPS
time after adjusting the received GPS time for the delay encountered by a signal transmitted between the external source and the wireless communication device.
14. The system of Claim 13, wherein the processing circuitry is further configured to determine a time of arrival (TOA) of the signals received from any source with respect to the synchronized clock.
15. The system of Claim 14, further including a control processor for determining the n-dimensional position location of a wireless communication device from n time of arrival measurements, wherein the time of arrival measurements indicate the time of arrival of signals received from n satellites.
16. The system of Claim 15, wherein the control processor resides within a base station transceiver subsystem.
17. The system of Claim 15, wherein the control processor resides within a base station controller.
18. The system of Claim 15, wherein the control processor resides within a dedicated position determination device.
19. A system for synchronizing time of arrival measurements made within a wireless communication device to global positioning system (GPS) time, comprising:
a) a receiver configured to receive signals from an external source synchronized to GPS time, the signals received from the external source including an indication from which the amount of delay encountered by a signal transmitted between the external source and the receiver can be determined, and an indication of GPS
time at the time the signal that includes the indication of GPS time is transmitted from the base station; and b) time/frequency circuitry, including:
i) a clock; and ii) processing circuitry, coupled to the clock, configured to:

(1) determine the time of arrival of signals received by the receiver with respect to the clock; and (2) adjust the time of arrival by an amount equal to delay encountered by a signal transmitted between the external source and the wireless communication device.
20. A wireless positioning function, including:
a) a receiver configured to receive:
i) "system one time of arrival" (TOA) information indicating the time at which L first system signals transmitted from L synchronized system one sources have been received by a wireless communication device, L being a positive integer greater than one; and ii) "system two TOA" information indicating the time at which M second system signals transmitted from M synchronized system two sources have been received by a wireless communication device, M being a positive integer greater than one; and b) a processor, coupled to the receiver, configured to calculate, from the system one TOA information, and the system two TOA information, an n-dimensional location solution, wherein n is not greater than (L + M - 2).
21. The wireless positioning function of Claim 20, wherein the first system is a satellite position location system, the first system sources are satellites, the second system is a communication system, and the second system sources are base stations.
22. The wireless positioning function of Claim 20, wherein the processor is further configured to:
a) determine, from the "system one TOA" information, a time difference of arrival (TDOA) measurement between each pair of the first system signals;

b) determine, from the "system two TOA" information, a TDOA measurement between pairs of the second system signals;
c) calculate, from P TDOA measurements between "system one signals", and Q
TDOA measurements between "system two signals", an n-dimensional location solution, wherein n is not greater than (P + Q), and where P and Q
are each positive integers.
23. The wireless positioning function of Claim 22, wherein "system one" is a satellite navigation system and "system two" is a communication system in which it is possible to synchronize each base station to each other base station within the communication system.
24. A wireless positioning function, including:
a) a receiver configured to receive:
i) "system one time of arrival" (TOA) information indicating the time at which L first system signals transmitted from L synchronized system one sources have been received by a wireless communication device, L being a positive integer greater than one;
ii) "system two TOA" information indicating the time at which M second system signals transmitted from M synchronized system two sources have been received by a wireless communication device, M being a positive integer greater than one; and iii) "system three TOA" information indicating the time at which I third system signals transmitted from I synchronized system three sources have been received by a wireless communication device, I being a positive integer greater than one; and b) a processor, coupled to the receiver, configured to calculate, from the system one TOA information, the system two TOA information, and the system three TOA information, an n-dimensional location solution, wherein n is not greater than (L + M + I - 3), and an over determined 3-dimensional solution is provided for (L + M + I - 3) greater than 3.
25. A wireless communication device for determining the search window center for searching for a global positioning system (GPS) satellite, including:
a) a receiver for receiving signals from a base station, the signals including an indication of the timing of a GPS satellite;
b) a GPS receiver/time unit; and c) a control processor, coupled to the receiver and to the GPS receiver/time unit, and configured to use the received timing of the GPS satellite to determine a search window center in time to expedite a search for that satellite.
26. The wireless communication device of Claim 25, wherein the search window center is further determined using the particular sector within the base station through which the base station is communicating with the wireless communication device.
27. The wireless communication device of Claim 25, wherein the information is search window center is further determined using the strength with which signals from other base stations are received by the wireless communication device.
28. The wireless communication device of Claim 25, wherein the information is further based upon differences in arrival times at the wireless communication device between signals transmitted from at least two base stations.
29. The wireless communication device of Claim 25, wherein the information is further based upon prior knowledge of where the wireless communication device has recently been.
30. A remote synchronizing station, including:

a) a receiver configured to receive signals from at least two base stations, the time difference of arrival (TDOA) between at least two of the base stations being an essentially known value;
b) a clock; and c) processing circuitry, coupled to the receiver and to the clock, configured to:
i) measure the time of arrival of signals from the base stations;
ii) measure the TDOA of at least each pair of base stations for which the TDOA is know; and iii) calculate the difference between the measured TDOA of each pair of base stations for which the TDOA is known and the known TDOA.
31. The remote synchronizing station of Claim 30, further including a transmitter for transmitting the calculated difference.
32. The remote synchronizing station of Claim 30, wherein the clock is included within the processing circuitry.
33. The remote synchronizing station of Claim 30, wherein the known TDOAs are received by the receiver.
34. A wireless positioning function, including:
a) an input port;
b) an output port; and c) processing circuitry, coupled to the input port and output port, configured to:
i) receive, from the input port, time of arrival information indicating the times at which signals transmitted from a plurality of signal sources having known locations were received at a wireless communication device, at least some of the signal sources being base station signal sources;
ii) receive, from the input port, values representing the difference between a measured TDOA and a known TDOA for each pair of base station signal sources;
iii) calculating TDOA between each pair of the signal sources from the received time of arrival information for each of the signal sources;
iv) adjust the TDOA between each pair of the base station signal sources using the difference between the measured TDOA and the known TDOA for each pair of base station signal sources; and v) calculate the location of the wireless communication device using the adjusted TDOA for each pair of the signal sources for which a difference was received and using the unadjusted TDOA for each pair of signal sources for which a difference was not received.
35. A remote synchronizing station, including:
a) a receiver configured to receive signals from a base station, the time at which signals are transmitted from the base station and the transmission delay being known values;
b) a clock, synchronized with clocks present in each of the base stations;
c) processing circuitry, coupled to the receiver and to the clock, configured to:
i) measure the time of arrival of signals from the base station;
ii) calculate the transmission delay as the difference between the time of arrival and the time of transmission of signals transmitted from the base station;
and iii) calculate the difference between the calculated transmission delay and the known transmission delay.
36. The remote synchronizing station of Claim 35, further including a transmitter, coupled to the processing circuitry and configured to transmitting the calculated difference between the actual delay and the known delay.
37. A wireless communication device, including:
a) a receiver configured to receive signals including a delay indication, indicating the amount of time required for signals to propagate between the wireless communication device and a base station, the base station being located at a known location; and b) processing circuitry configured to determine the size of a global positioning system (GPS) search window based on the delay indication.
38. A wireless communication device, including:
a) a receiver configured to receive signals from a base station, the location of the base station and the approximate distance between the base station and the wireless communication device being known; and b) processing circuitry configured to determine the center of a global positioning system (GPS) search window based on the location and approximate distance between the base station and the wireless communication device.
39. A wireless communication device, including:
a) a receiver for receiving code division multiple access (CDMA) signals;

b) a receiver for receiving global positioning system (GPS) signals ; and c) processing circuitry for correlating CDMA signals with CDMA codes and for correlating GPS signals with GPS codes.
CA2388743A 1999-10-29 2000-10-27 Method and apparatus for determining the position location using reduced number of gps satellites and synchronized and unsynchronized base stations Expired - Lifetime CA2388743C (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US09/430,618 1999-10-29
US09/430,618 US6353412B1 (en) 1998-03-17 1999-10-29 Method and apparatus for determining position location using reduced number of GPS satellites and synchronized and unsynchronized base stations
PCT/US2000/029718 WO2001033302A2 (en) 1999-10-29 2000-10-27 Method and apparatus for position determination using reduced number of gps satellites and synchronized and unsynchronized base stations

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CA2388743A1 true CA2388743A1 (en) 2001-05-10
CA2388743C CA2388743C (en) 2011-04-26

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US (1) US6353412B1 (en)
EP (2) EP1224508A2 (en)
JP (4) JP2003513291A (en)
CN (1) CN1194274C (en)
AU (1) AU1441101A (en)
BR (1) BR0015069A (en)
CA (1) CA2388743C (en)
HK (1) HK1052228B (en)
MX (1) MXPA02004304A (en)
WO (1) WO2001033302A2 (en)

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