EP0953140A1 - Dispositif apte a determiner la direction d'une cible dans un repere predefini - Google Patents
Dispositif apte a determiner la direction d'une cible dans un repere predefiniInfo
- Publication number
- EP0953140A1 EP0953140A1 EP98903080A EP98903080A EP0953140A1 EP 0953140 A1 EP0953140 A1 EP 0953140A1 EP 98903080 A EP98903080 A EP 98903080A EP 98903080 A EP98903080 A EP 98903080A EP 0953140 A1 EP0953140 A1 EP 0953140A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- sighting
- target
- elements
- function
- registration
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000012545 processing Methods 0.000 claims abstract description 30
- 230000005540 biological transmission Effects 0.000 claims abstract description 16
- 230000006870 function Effects 0.000 claims description 30
- 238000004364 calculation method Methods 0.000 claims description 16
- 238000000034 method Methods 0.000 claims description 11
- 230000008569 process Effects 0.000 claims description 5
- 239000000835 fiber Substances 0.000 claims description 3
- 238000001914 filtration Methods 0.000 claims description 3
- 230000003287 optical effect Effects 0.000 claims description 3
- 230000010354 integration Effects 0.000 description 9
- 239000013598 vector Substances 0.000 description 8
- 238000005259 measurement Methods 0.000 description 6
- 238000012937 correction Methods 0.000 description 5
- 238000010304 firing Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 206010044565 Tremor Diseases 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005672 electromagnetic field Effects 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
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- 239000000463 material Substances 0.000 description 1
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- 230000003068 static effect Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41G—WEAPON SIGHTS; AIMING
- F41G3/00—Aiming or laying means
- F41G3/06—Aiming or laying means with rangefinder
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41G—WEAPON SIGHTS; AIMING
- F41G3/00—Aiming or laying means
- F41G3/02—Aiming or laying means using an independent line of sight
Definitions
- the present invention relates to the field of aiming or pointing devices. It relates more particularly to a device capable of determining the direction of a target in a predefined reference frame, device of the type comprising sighting means and means for processing signals from the sighting means, these processing means being able to determining the direction between the aiming means and the target and transmitting them to viewing means or to external means.
- patent EP557591 describes a device capable of determining the orientation of a body with respect to a reference orientation, and comprises a mobile orientation unit and a reference sensor unit, each of 'between them comprising a three-axis gyroscopic unit, a calculation unit receiving the measurement values of the aforementioned units, and an output unit.
- Such devices exist and use magnetic field sensors.
- binoculars sold under the LEICA brand, are able to determine the site and the azimuth of a target and give complete satisfaction when used in free space.
- LEICA brand are able to determine the site and the azimuth of a target and give complete satisfaction when used in free space.
- their use is not possible in an environment with magnetic disturbances.
- Other devices consist in analyzing electrostatic or even electromagnetic fields and, by reading their mapping, in determining the position and the direction of a target.
- the devices are satisfactory in perfectly known and small environments. They are however heavy to implement and do not support modifications of the electrical environment.
- the patent US Pat. No. 4,012,989 is known which describes a helicopter comprising a device for determining the direction of a target with a view to directing a mobile weapon system.
- the device for determining the direction of a target comprises a mobile aiming member provided with two integrated inertial gyroscope, registration means secured to the helicopter provided with two gyroscopes and means for controlling the direction of the weapon based on the information provided by the gyroscopes.
- the registration means are used to block the four gyroscopes in a first reference position to define a reference. When the sighting means are released from the registration means, the four gyroscopes are released.
- the pair of gyroscope integrated into the registration means then rotates according to the movements of the helicopter.
- the pair of gyroscope integrated into the aiming member rotates according to the movements of the helicopter and the movements of the shooter handling the aiming member.
- the weapon is directed in real time towards the target according to the difference in rotation between the two pairs of gyroscopes.
- This device has many drawbacks.
- the shooter is obliged to maneuver the aiming means permanently towards the target, and this until the firing of the weapon system which limits the firing capabilities and makes the helicopter vulnerable in the event of the presence of several targets.
- the two gyroscopes of the aiming means transmit to the processing means successions of signal variations leading to an accumulation of measurement error which affects the accuracy of the determination of the target direction.
- One of the aims of the invention is to propose a light and handy device, capable of determining, precisely and quickly, the site and the azimuth of a target and usable whatever the type of environment.
- the proposed solution is a device capable of determining the direction of a target in a predefined reference frame and of the type comprising aiming means, means for resetting these aiming means and means for processing signals from the aiming means, these processing means being capable of determining values representative of the direction between the aiming means and the target and of transmitting them to viewing means or to external means, device characterized in that the aiming means comprise a aiming, three gyrometers arranged along three axes substantially perpendicular to each other and means for controlling the transmission to the viewing means or to the external means, values representative of the direction between the aiming means and the target.
- the device comprises three optical gyrometers, for example with optical fiber.
- the aiming means comprise elements capable of cooperating with elements of the registration means.
- the first elements are constituted by three plates, one hollowed out by a cone, the second comprising a plane, while the other elements are constituted by spikes of conical shape.
- the processing means comprise a source of electrical power and means for computing and managing information using software carrying out several functions.
- the software performs three main functions:
- the objective designation function which acquires the data from the sighting instrument and processes it in order to obtain the desired site and azimuth
- the software also performs a function for displaying the operational state of the elements of the invention. It is also known that the values derived from gyroscopes derive, in particular in time and in temperature, and that their static and dynamic calibration is necessary.
- the patents EP717264 and EP496172 describe methods for correcting gyrometric biases as well as the means for their implementation.
- the first concerns the correction of gyrometric biases on an aircraft and the second, on a vehicle. In both cases, the gyroscopic calibration is carried out when the aircraft or the vehicle is in the stationary position.
- One of the aims of the invention is to propose a method for processing signals from gyroscopes which gives good results and does not require powerful signal processing means.
- the solution consists in proposing a method of integration of the gyroscopic data consisting in carrying out successively, from the gyroscopic values obtained between time to and time t1, first calculations with complex modeling that cannot, taking into account the processing capacity of the processing means, operate in real time but gives precise results, then from the gyroscopic values obtained between time t1 and time t2, second calculations with modeling simplified and capable of being implemented in real time.
- the software performs a function of correcting the drift of the gyros between two successive readjustments.
- the sighting means comprise at least one temperature sensor.
- FIG. 1 a diagram of the general means of the invention.
- FIG. 2 shows sighting means according to the invention
- FIG. 3 illustrates registration means according to the invention
- the means of the invention presented in FIG. 1 include aiming means 10, registration means 20, signal processing means 30, display means 40, external means 50, 60.
- the sighting means 10 comprise means 11 having the shape of a pistol.
- the core 12 of the latter is a precision support of light material, for example machined aluminum, on which are positioned on the one hand a sighting member 13, and on the other hand along three axes substantially perpendicular to each other compared to the others, three optical gyroscopes 14-
- these gyroscopes are fiber optic gyros. They make it possible to obtain high accuracy of measurements, their drift is low, they support rapid movements and can be used in any environment.
- the sighting member 13 is constituted by a viewfinder of the C-More brand which projects an infinite crosshair, allowing you to aim without parallax error.
- Ports are machined in the gun to house the electrical systems and the three measurement gyros.
- the plans on which they are based, and which determine their axis of rotation are machined in order to ensure their perfect perpendicularity.
- These sighting means further comprise transmission control means constituted by a switch 16 in the form of a gun trigger.
- the registration means 20, shown in FIG. 3, are fixed to the ship and are composed of a support in the form of a rectangular box 21 comprising a cover 22 pivoting about an axis 23. This box contains a sheath 24 which matches the shape of the sighting means 10.
- the internal surface of the face 22 has three fixed pins of conical shape 25 ⁇ , 252, 25 3 arranged so that each of them cooperates with one of the three removable plates fixed on the sighting means in order to ensure a very precise positioning of the latter in the registration means, the precision being able to be of the order of a hundredth of a degree or even higher.
- These registration means further include a switch 26 indicating or not the presence of the sighting means 10.
- the processing means 30 are portable and include a stabilized source of electrical power and means for calculating and managing information using software performing several functions.
- the external means comprise on the one hand means 50 for measuring the attitude (heading, roll, pitch) of the ship, in this case a navigation center, and the latitude of the latter on the surface of the earth.
- this information is transmitted to the means of the invention by the navigation means of the ship, in the form of data directly usable by the calculation means, by means of a transfer function to take account of the positioning of the central of navigation in relation to the registration means.
- a weapon system 60 the aiming of which is controlled on the basis of the site and azimuth values determined by the means of the invention and of values specific to the weapon system and to its location on the ship.
- a weapon system 60 the aiming of which is controlled on the basis of the site and azimuth values determined by the means of the invention and of values specific to the weapon system and to its location on the ship.
- to designate the objective, and therefore determine the viewfinder-target direction it suffices to determine the attitude of the aiming instrument.
- This attitude can be expressed in different benchmarks, depending on the needs of the system that will use the aiming information.
- attitude calculation is broken down as follows:
- the sighting means 10 are positioned in the registration support 20, their position is perfectly known in an absolute coordinate system knowing on the one hand the position of the registration support on the ship (6 degrees of freedom) and on the other hand the position of the ship in the geographical reference linked to its quiet point (course, roll, pitch and latitude).
- This information is transmitted to the processing means 30 by the ship's navigation center.
- the command to release the sighting means from its registration support 20 triggers the integration of the three incremental angles along each of the three axes linked to the sighting means 10.
- This integration takes place in a Galilean coordinate system linked to the registration support 20, in the position where it was at the time of the extraction of the sighting means 10.
- the attitude of the device is therefore known at all times with respect to this Galilean coordinate system .
- attitude of the aiming means must be in accordance with the needs of external means 60.
- this compliance requires two steps. The first consists in calculating the attitude of the sighting means in a geographical reference centered on the registration support 20, at the instant of use of the information. This calculation takes into account the Earth's rotation and the time elapsed since the last readjustment.
- the second is to express the attitude in the exploitation benchmark, in this case the benchmark of the weapon system.
- This reference may be located several tens of meters from the registration support, and therefore the parallax error may not be negligible, especially if the objects concerned are close, these objects being able to be swimmers or light boats. Knowing the operational need, the field of vision is divided into two areas. On the one hand, we consider the domain of positive (or weakly negative) sites, which cannot be floating goals. For these objects, a fixed distance of around 4,000 meters is used to correct the parallax. On the other hand, we consider the domain of negative sites, supposed to be floating goals. Knowing the altitude of the device relative to the sea, and knowing the aiming site (measured by the device), a simple trigonometric calculation allows to estimate the distance of the object, and it is this distance which is used as a basis to the calculation of parallaxes.
- the aiming movements due to the operator's tremors in an environment which is both stressful and disturbed by the movements of the ship generate noise in the aiming information which can make operation difficult or even impossible.
- This filtering can be of the low pass type or a KALMANN type filter so as to take into account the evolutions of the targets in a given template without having to lag behind.
- the movement can be quite fast, and the incremental angles measured by the measurement system big enough, an adequate modeling allows to come back to the previous conditions.
- the initial attitude is determined mechanically. Before any objective designation, the aiming instrument is at rest in the registration means, so that its position is known and reproducible. The precision of this position is acquired by three fixed positioning pins 25-
- the positioning of the sighting means in the registration means is carried out in two stages.
- the first consists in positioning the sighting means in the sheath 24: it constitutes a positioning that can be described as coarse while the second consists in positioning the sighting means by successively plugging in one of the three pins in the one of the three plates: positioning is thus obtained to the nearest hundredth of a degree.
- precise positioning of the sighting means is performed automatically when the lid 22 of the box 21 is closed.
- the mission of the software implemented by the processing means 30 is to process the raw data supplied by the sighting instrument, a device which allows the operator of the means according to the invention, by aiming at a target, to determine its site. and its azimuth.
- This software performs the following four functions:
- the objective designation function which acquires the data from the sighting instrument and processes it in order to obtain the desired site and azimuth
- the transmission function which sends the azimuth - site data, for display on the display means and / or for control of the weapon system 60,
- the objective designation function takes place permanently when the aiming instrument is in operational mode, that is to say outside of the registration support. It is necessary that the processing time of the gyroscopic data is minimal, for example of the order of a few milliseconds, in order to be able to process the maximum of data coming out of the gyrometers, and thus to best follow the evolution of the angle increments and angles which are deduced therefrom, in order to limit the error during processing. Depending on the size of the angle increments from the gyrometers, modeling is implemented to overcome as much as possible the commutative limits of rotations in space.
- the input values required for this function are:
- the output values are: - u, v, w: position vectors of the sighting instrument at time t in the absolute coordinate system of the registration support in to,
- the integration of the gyrometric data is done in the absolute coordinate system of the registration support in to.
- the treatment is ended by taking into account the earth's rotation which has been measured additionally by the gyrometers since the start of the treatment. For this, we place our in the absolute coordinate system of the registration support in t, instant of the aiming, then we deduce the site and the absolute azimuth of the aiming instrument with respect to the building.
- the transmission function is very simple, since it consists in sending the calculated values of site and the azimuth in the absolute reference of the building at time t, towards a memory and towards the system of weapons and / or for affiohago on towards the display means for display.
- This function is triggered by the passage of the switch 16 from the open position to the closed position. It is accompanied by the emission of an audible signal and / or a light signal and the display of positive information on the display means.
- an automatic readjustment takes place periodically and the gyrometer drifts are analyzed both in time and in temperature. If, during processing, the switch opens, the current registration is canceled, and the values of the previous registration are taken into account.
- the input values are: - the position of switch 24,
- the output values are: to, uo, vo, wo the position vectors of the aiming instrument at to, as well as Du.
- the processing of the input data is carried out as follows: The values of the heading K, the roll Rr and the pitch Ta of the building are acquired.
- the position of the registration support relative to the building is entered as a parameter.
- the calculations during processing are done in the absolute frame of the building (and the registration support) in to, instant of the last registration.
- the purpose of registration is therefore to determine the new departure vectors of the integral in the absolute coordinate system of the registration support in to.
- the site and the azimuth are calculated using the aiming vector determined by the gyrometric measurements and the integration during the operational mode. These values are compared with those calculated from the aiming vector determined by the navigation of the building and the known position of the aiming instrument when it is in its registration support.
- the system status display function allows you to view the status of certain functions:
- switch 16 closes, and the trigger variable goes from 0 to 1 on the screen.
- the implementation of the means of the invention is carried out by an operator.
- the latter sees a target, it removes the sighting means 10 from the registration means 20 then it points, using the sighting member 13, the means 10 towards the target and presses the switch 16 when it considers that they are correctly positioned in relation to the target. Consequently, the means 30 calculate the site and the azimuth of the target and transmit these values to the weapon system which controls the orientation of the weapon as a function of these values and of the variations in attitude of the ship from said transmission of the values, these variations being, as previously mentioned, determined by the means 50. Immediately after the transmission, the shooter can aim at another target and press the switch 16. The means 30 then calculate the site and the azimuth of the new target and pass these values to the weapon system which stores in memory said values and can direct the weapon towards this new target immediately after firing towards the first target.
- the shooter can successively target several targets in a minimum of time, without being obliged to wait for the end of the firing sequence of the weapon which optimizes the total time necessary for the corresponding shots and thus reduces the vulnerability of the boat.
- the shooter also allows the shooter to be able to revise a target in the event that the projectile of the weapon has not reached it, and this while the weapon system is oriented towards another target.
- the shooter can, after acquiring the target (s), perform additional tasks or move without the weapon system reacting to its movements.
- the acquisition of gyros is done with a step Dt between 5 ms and 100 ms. These values are integrated and it is known to model this integration in order to obtain precise results.
- portable computing means it is not possible to perform calculations in real time.
- One of the aims of the invention is to remedy this problem by proposing an integration method consisting in carrying out successively, from the gyroscopic values obtained between time to and time t1, first calculations with complex modeling do not being able to function in real time but giving precise results, then starting from the gyroscopic values obtained between time t1 and time t2, second calculations with a simplified modeling and capable of being implemented in real time.
- This succession of steps has the advantage of being able to lead to site and azimuth calculations in real time relative to the closing of the switch 16 and, taking this objective into account, gives more precise results than the single use of complex modeling, simplified modeling.
- the box 21 can be replaced by a device comprising actuators, for example of the electromechanical or pneumatic type.
- the sighting means 10 are placed in a holder of the case type. Therefore they are positioned roughly a few degrees.
- a pneumatic or electromechanical device Upon detection of their presence, a pneumatic or electromechanical device presses them against the 3 pins described above.
- the sighting means can be applied to a helmet, such as that described in US Pat. No. 4,722,601, to a headband or to binoculars and the software can include a self-adaptive algorithm for calculating the drift of gyrometers.
- the 3 plates can each have a slot, or the means can also include 4 plates, two of which have a slot, the third has a stop and the fourth form 1 plane.
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Gyroscopes (AREA)
- Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
Abstract
Description
Claims
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR9700497A FR2758625B1 (fr) | 1997-01-17 | 1997-01-17 | Dispositif apte a determiner la direction d'une cible dans un repere predefini |
FR9700497 | 1997-01-17 | ||
PCT/FR1998/000086 WO1998031985A1 (fr) | 1997-01-17 | 1998-01-19 | Dispositif apte a determiner la direction d'une cible dans un repere predefini |
Publications (2)
Publication Number | Publication Date |
---|---|
EP0953140A1 true EP0953140A1 (fr) | 1999-11-03 |
EP0953140B1 EP0953140B1 (fr) | 2004-04-14 |
Family
ID=9502726
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP98903080A Expired - Lifetime EP0953140B1 (fr) | 1997-01-17 | 1998-01-19 | Dispositif apte a determiner la direction d'une cible dans un repere predefini |
Country Status (5)
Country | Link |
---|---|
US (1) | US6202535B1 (fr) |
EP (1) | EP0953140B1 (fr) |
DE (1) | DE69823167T2 (fr) |
FR (1) | FR2758625B1 (fr) |
WO (1) | WO1998031985A1 (fr) |
Families Citing this family (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2824132B1 (fr) * | 2001-04-27 | 2007-07-13 | France Etat | Dispositif, et procede associe, apte a determiner la direction d'une cible |
EP1329683B1 (fr) * | 2002-01-16 | 2005-08-31 | Oerlikon Contraves Ag | Procédé et dispositif pour la compensation d'erreurs de tir et calculateur de système pour système d'arme |
FR2852405B3 (fr) * | 2003-03-14 | 2005-06-03 | Dispositif et procede associe apte a determiner la direction d'une cible | |
US7225548B2 (en) * | 2004-05-17 | 2007-06-05 | Sr2 Group, Llc | System and method for aligning multiple sighting devices |
US8718937B2 (en) | 2005-09-28 | 2014-05-06 | Honeywell International Inc. | Methods and apparatus for real time position surveying using inertial navigation |
FR2929700B1 (fr) * | 2006-10-23 | 2016-02-05 | Sofresud | Dispositif decentralise d'autodefense comprenant un pointeur portable et mobile apte a assurer en urgence la defense rapprochee d'un navire ou d'une plate-forme en mer contre une menace de surface. |
US20090217565A1 (en) * | 2008-01-11 | 2009-09-03 | Ford Timothy D F | Splatter indicator sight for firearms |
FR2974196B1 (fr) | 2011-04-12 | 2014-03-07 | Ixmotion | Systeme de stabilisation d'un positionneur a axes motorises d'un equipement |
ITFI20110266A1 (it) | 2011-12-09 | 2013-06-10 | Selex Galileo Spa | "sistema di mira" |
CN103676131A (zh) * | 2013-12-20 | 2014-03-26 | 河北汉光重工有限责任公司 | 高清晰昼夜瞄准镜 |
DE102015012206A1 (de) * | 2015-09-19 | 2017-03-23 | Mbda Deutschland Gmbh | Feuerleitvorrichtung für eine Handfeuerwaffe sowie Handfeuerwaffe |
FR3057656B1 (fr) | 2016-10-14 | 2019-04-05 | Sofresud | Dispositif visuel pour la designation d’objectifs et procede de designation d’objectif utilisant ledit dispositif |
GB2574375B (en) | 2018-05-23 | 2023-02-01 | The Corp Of Trinity House Of Deptford | A positioning system and method |
FR3089283B1 (fr) | 2018-11-29 | 2021-03-12 | Ixblue | Module autonome optronique de pointage de cible géolocalisé pour système portable et système correspondant |
Family Cites Families (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4012989A (en) * | 1975-04-21 | 1977-03-22 | Summa Corporation | Inertial free-sight system |
JPS5923216A (ja) * | 1982-07-29 | 1984-02-06 | Nec Corp | 3軸回転角速度検出装置 |
JP2874348B2 (ja) | 1991-01-10 | 1999-03-24 | 住友電気工業株式会社 | ジャイロのバイアス補正装置 |
DE4205869A1 (de) | 1992-02-26 | 1993-09-02 | Teldix Gmbh | Einrichtung zur bestimmung der relativen orientierung eines koerpers |
FR2691792A1 (fr) * | 1992-06-02 | 1993-12-03 | Giat Ind Sa | Dispositif de déclenchement du tir d'une arme à feu. |
US5440492A (en) * | 1992-12-23 | 1995-08-08 | Kozah; Ghassan F. | Kinematically positioned data acquisition apparatus and method |
US5822713A (en) * | 1993-04-05 | 1998-10-13 | Contraves Usa | Guided fire control system |
US5568152A (en) * | 1994-02-04 | 1996-10-22 | Trimble Navigation Limited | Integrated image transfer for remote target location |
FR2728339B1 (fr) | 1994-12-14 | 1997-04-04 | Aerospatiale | Procede et dispositif pour estimer des biais gyrometriques |
FR2737001B1 (fr) * | 1995-07-20 | 1997-08-29 | Giat Ind Sa | Dispositif de stabilisation pour arme a feu individuelle |
IL120840A (en) * | 1997-05-16 | 2000-09-28 | Planop Planar Optics Ltd | Distant aiming apparatus particularly for a firearm |
-
1997
- 1997-01-17 FR FR9700497A patent/FR2758625B1/fr not_active Expired - Fee Related
-
1998
- 1998-01-19 DE DE69823167T patent/DE69823167T2/de not_active Expired - Lifetime
- 1998-01-19 EP EP98903080A patent/EP0953140B1/fr not_active Expired - Lifetime
- 1998-01-19 US US09/142,766 patent/US6202535B1/en not_active Expired - Lifetime
- 1998-01-19 WO PCT/FR1998/000086 patent/WO1998031985A1/fr active IP Right Grant
Non-Patent Citations (1)
Title |
---|
See references of WO9831985A1 * |
Also Published As
Publication number | Publication date |
---|---|
US6202535B1 (en) | 2001-03-20 |
FR2758625B1 (fr) | 1999-03-19 |
FR2758625A1 (fr) | 1998-07-24 |
DE69823167T2 (de) | 2005-06-30 |
DE69823167D1 (de) | 2004-05-19 |
WO1998031985A1 (fr) | 1998-07-23 |
EP0953140B1 (fr) | 2004-04-14 |
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