EP1314950A1 - Procédé et dispositif pour l'évaluation des erreurs de pointage d'un système d'arme et utilisation du procédé - Google Patents

Procédé et dispositif pour l'évaluation des erreurs de pointage d'un système d'arme et utilisation du procédé Download PDF

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Publication number
EP1314950A1
EP1314950A1 EP02022511A EP02022511A EP1314950A1 EP 1314950 A1 EP1314950 A1 EP 1314950A1 EP 02022511 A EP02022511 A EP 02022511A EP 02022511 A EP02022511 A EP 02022511A EP 1314950 A1 EP1314950 A1 EP 1314950A1
Authority
EP
European Patent Office
Prior art keywords
weapon
target
image recording
fire control
control device
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
Application number
EP02022511A
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German (de)
English (en)
Other versions
EP1314950B1 (fr
Inventor
Nicolas Dr. Malakatas
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Rheinmetall Air Defence AG
Original Assignee
Oerlikon Contraves AG
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Oerlikon Contraves AG filed Critical Oerlikon Contraves AG
Publication of EP1314950A1 publication Critical patent/EP1314950A1/fr
Application granted granted Critical
Publication of EP1314950B1 publication Critical patent/EP1314950B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G3/00—Aiming or laying means
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G3/00—Aiming or laying means
    • F41G3/32—Devices for testing or checking
    • F41G3/323—Devices for testing or checking for checking the angle between the muzzle axis of the gun and a reference axis, e.g. the axis of the associated sighting device

Definitions

  • the invention relates to a method and according to claim 1 , a device according to claim 7 and a use according to one of claims 21 to 23 .
  • Methods and devices of this type are used to ensure the accuracy of Assess weapon systems designed to combat rapidly moving targets, in general flight destinations.
  • Such weapon systems include a fire control device and one or more of them Guns assigned to fire control device.
  • the fire control device is designed to Detect, acquire and track target.
  • tracking become practically ongoing, i.e. in time very close measurement times, measurements taken to determine the location of the target for each measurement time.
  • One of the weapon system assigned data processing system calculates retrospectively from the results of these measurements the state of movement of the target, including at least an empirical path / time function, an empirical speed / time function and an acceleration / time function of the target can be understood. Due to the path / time function, the speed / time function and the The computing / time function also calculates the future unit Movement state of the target.
  • a due date and an associated due position are determined, at which the target is expected at the due date.
  • the due date is determined in such a way that a projectile that belongs to a particular Fired from the weapon at the due date arrives at the due position or, to put it simply, arrives at the destination the due position hits.
  • the due position determined in this way is therefore the expected one Meeting point.
  • the data processing unit calculates furthermore a direction point for the weapon or for the weapon barrel which gun barrel must be aimed at the time of firing, or a Azimuth and an elevation which the weapon barrel has at the time of launch got to.
  • this calculation which is called the reserve calculation, the relative positions of fire control device and weapon, the internal and the external Ballistics as well as delays in the functioning of the system included.
  • the time of launch is when the gun barrel must be directed to the benchmark before the due date at which the target will be at the due position.
  • the accuracy is correct the weapon system, which significantly determines the target performance, tested. This essentially examines whether the processes between tracking the target and shooting a projectile as planned, namely in such a way that the target and floor are at the due position at the due date or at least in their vicinity. There are Various methods are known to determine directional errors. A really true one Assessment of the target performance of a weapon system is only possible when the fight against a goal is either actually happening or realistic is simulated.
  • a precise assessment of the directional accuracy or a precise determination of Directional errors can occur, for example, by actually shooting at a target and the angular and / or distance-based placement of the projectiles at their target Flight is determined.
  • the assessment of the accuracy or the target performance is limited to a relatively narrow time window when firing at and provides no clues about possible hits during the remaining time at which the target is fought by the weapon used can be.
  • a manipulation target or exercise target is used as the target should behave at least approximately as much as those real goals for whose combating the weapon system is provided. Such manipulation targets are unmanned.
  • self-flightable manipulation targets that are remotely controlled are known and, on the other hand, flightless manipulation targets, for example by be towed by a tow plane.
  • War ammunition or Practice ammunition can be used.
  • the filing can be done in two different ways are determined: Either the path / time curves of both the manipulation target as well as the storeys and from that the storage of the storeys determined from the manipulation target; For example, the local area in which manipulation target and projectiles meet, in the temporal area, to which this meeting takes place, mapped, and the filing is determined from this become. Or sensors are attached to the manipulation target, which on the projectiles flying past react. The big disadvantage of this procedure is that it is very time-consuming and expensive.
  • Manipulation targets themselves as well as either additional facilities for the determination and measurement of the trajectories and for evaluation of the determined Measured values or devices for processing the sensors Provided signals required.
  • the use of unmanned, airworthy, remote manipulation targets require additional terrestrial facilities for remote control of these manipulation targets.
  • the entirety of the required In any case, as stated above, furnishing is costly to purchase and complex in operation; mostly these facilities can only be operated by specialized personnel are served and require an infrastructure that only on fixed shooting ranges, but not available in the field. There is also always the risk of damage or destruction of the manipulation targets that are not can be avoided and should not be avoided, since the meeting of the Manipulation target just documented the desired good accuracy.
  • the tracking of the target i.e. tracking
  • the gun barrel is constantly on the Tracking the target in such a way that it is constantly aimed at the target.
  • the goal is not shot at, but a video camera mounted on the barrel takes pictures of the target. These images are visualized immediately or later.
  • the straightening line i.e. a straight line in the extension of the weapon barrel axis, is represented by a mark in the reproduced images. The mistake appears as a repository of the image of the target from this mark.
  • the Zero test can be a real target, so it is not shot at with bullets rather, the bombardment is simulated to a certain extent by optical rays; however, a beam is recorded and visualized during the simulation not from the weapon to the target but from the target to the weapon, which is the procedure is irrelevant.
  • the weapon hits the target immediately tracked, that is, azimuth and elevation are such that with perfect Alignment accuracy the weapon barrel is aimed precisely at the target; while visualizing the images from the video camera are always on the mark.
  • the accuracy is not perfect, because practically always certain Directional errors occur when visualizing the images from the video camera the image of the target in general is not on the mark.
  • the deviation of the picture the target from the mark corresponds to the placement of the storeys from the target.
  • the Zero test is based on the fiction that bullets without mass are used, that traverse their trajectory at infinite projectile speed so that the projectile flight time from the weapon barrel to the target is zero, which also means the designation 'Zero test' is declared. Provision and inclusion of internal ballistic sizes the projectiles are processed by the data processing unit assigned to the weapon system not in the calculations of azimuth and elevation respectively Control of the gun barrel considered; within the fiction of the infinite They don't really matter when it comes to bullet speed.
  • the advantage The zero test is that the additional facilities needed are not are expensive and that the test is easy to do so no specialized staff must be deployed; the execution of the test can not only take place on shooting ranges but also in the field.
  • the simplifications that take place during the zero test, that means hiding everyone Facts related to the reserve calculation are simultaneous the disadvantages of the zero test.
  • the new method is very inexpensive and easy to implement, however like the conventional zero test, it is only one test procedure, the digestion gives about the total of the correcting errors including the preliminary calculation.
  • the method therefore does not allow diagnoses about the causes of the Pointing error. Corrections of the directional errors can therefore only be made through error compensation but not by eliminating the cause of the error. However, this does not reduce the value of the procedure, since ultimately it only has an effect of the weapon system is important and it is irrelevant whether a mistake causal or compensatory.
  • the simulating projectiles only the internal ballistics of corresponding projectiles considered. This makes sense, since with the method only the directional errors, ie only the internal behavior of the weapon system to be tested.
  • the steps described above are carried out continuously and preferably clocked, which means that the calculation steps for the value pairs of due dates / due positions at calculation times be carried out by very small and preferably the same Intervals are separated.
  • the image display device thus shows continuously for a whole target trajectory the directional errors of the weapon system.
  • Each due date is preferably based on a calculation date calculated and therefore generally does not coincide with any of the following Calculation times together.
  • the corresponding due position must therefore generally determined by an interpolation between due dates whose associated due dates are close to the calculation dates associated due date.
  • the deviation of the locations must be used for the calculations of the fire control device and the weapon are taken into account.
  • the procedure can also be carried out when the weapon is relative to the fire control device moved, for example mounted on a moving tank. In In this case, the changing weapon position must be continuously measured and be included in the calculations.
  • the hit performance of a weapon system is generally rather better is assumed to be due to the images appearing on the image display device first, because the anti-aircraft guns used as weapons usually have multiple weapon barrels, secondly because in one Weapon system usually several weapons are assigned to a fire control device and third, because when shooting with real projectiles, there is always scatter is to be expected.
  • the new procedure the external ballistics, which can have a negative impact on the target performance, not includes.
  • An image recording device is used to carry out the method described above and one with the image pickup device via a connection device related image display device.
  • a data processing unit with the required software and a storage unit are available.
  • the image display device connected to the image capturing device so that the captured Images are instantly played back continuously.
  • a video camera can be used as the image pickup device.
  • a first variant is the attachment of the image recording device on or in the barrel, in such a way that its optical axis matches the barrel axis coincides with it, in terms of direction and position matches.
  • a second variant is the attachment of the image recording device on the barrel, in such a way that its optical axis is aligned with the barrel axis directionally but not in terms of location.
  • a third variant is the attachment of the imaging device to the gun barrel, namely in such a way that its optical axis is neither directional nor positional with the Gun barrel axis matches.
  • the image capturing device can be attached before the actual process begins the difference between the optical axis of the image pickup device and gun barrel axis, for example by means of an adjustment camera attached to the gun barrel, determined and in the subsequent process steps as compensatory Correction either purely optically or by taking it into account in the calculations be included.
  • Such a correction can be dispensed with if at least the positional difference between the optical axis the imaging device and weapon barrel axis compared to the distance is relatively small between weapon and target.
  • the image recording device mounted so that its optical axis is in position does not coincide with the barrel axis, so it can definitely to be attached to the weapon.
  • the advantage of this is that the procedure according to the invention can then be carried out practically at any time and without preparation can; For example, it can be quickly tested whether there are failures in the fight from targets to misdirection of the weapon system or to unexpected ones Target movements are based.
  • the fixation must be relatively robust, especially if the image recording device is attached directly to the weapon barrel because it is exposed to major shocks during regular shooting.
  • a monitor is usually used as the image display device.
  • the image display device is designed so that the visualization of the Imaging device delivered images a mark, for example a crosshair or coordinate system or a corresponding field, becomes visible; the Brand, that means the origin of the crosshair or coordinate system or the corresponding field represents the straightening line, including one the weapon barrel axis lengthening straight line is understood.
  • the target falls with the brand together, so there is no shelf and the accuracy is perfect, which, however, does not rule out that there are several errors in the timing chain between tracking the target and aiming the gun barrel, which cancel each other out.
  • the extent of the shelf can be read.
  • the connecting device between the image pickup device and the image display device can be a conventional cable connection, an optical fiber connection or a non-material connection with a transmitter on the image pickup device and a receiver on the image display device.
  • Non-material connection devices have the advantage that there is no tangle of cables arises when the weapon barrel through a large angle, possibly by more than 360 °. But they are easily disruptive. Become material connection arrangements used, which are less prone to failure, so must Measures are taken in order to avoid wide-angle pivoting of the Gun barrel to prevent tangling; for this, rotating against each other Used contacts or cables, for example, run over a kind of gallows become.
  • the one assigned to the weapon system can be used as the data processing unit Data processing unit can be used.
  • This unit can only on the fire control device or partly on the fire control device and partly on the weapon be arranged yourself. It can also be a separate weapon and if necessary Fire control device separate computer and / or storage unit can be used if necessary, can be switched on as a module.
  • the relative location i.e. the distance and the Angular position, known between the weapon and fire control device and in the calculations be taken into account.
  • both the weapon and the fire control device are stationary, this is relative Location the constant gun parallax.
  • the gun parallax must be started of the procedure.
  • a position measuring device used. This can be a complete one external device in the manner of a triangulation device or around a internal set-up of the weapon system or a GPS system Trade facility.
  • the relative position between weapon and fire control device can also change, for example, when the weapon is on a moving vehicle, to Example is mounted on a tank while the fire control device is stationary.
  • the ongoing change in the relative position must be recorded and are continuously taken into account in the calculations that are carried out during the implementation of the procedure.
  • the position measuring device can therefore not be purely external Be a facility.
  • the position measuring device is with the data processing system connected and the software must be trained to use the include ongoing changes in the relative position in the calculations of the method.
  • the weapon system has a fire control device F and a weapon W with a weapon barrel B as well as directing means for aiming the weapon barrel; To simplify matters, it is assumed that the fire control device F and the weapon W are in the same position.
  • the weapon barrel axis and its extension beyond the gun barrel B are designated B.1 .
  • a data processing system EDV with the software S required for normal shooting operations is assigned to the weapon system.
  • the weapon system W has an image recording device V, an image display device M and a computer unit with specific software S.1 .
  • the image recording device V is, for example, a video camera.
  • the image recording device V is intended to take pictures of the space in front of the weapon barrel B.
  • the image recording device V is arranged such that it carries out the directional movements of the weapon barrel B in solidarity with the weapon barrel B.
  • the image recording device V is arranged, preferably on the weapon W or on or in the weapon barrel B, in such a way that its optical axis coincides exactly with the weapon barrel axis B.1 or deviates so slightly from the weapon barrel axis B.1 that this deviation for the results of the method according to the invention is insignificant.
  • the image recording device V can also be arranged such that its optical axis in direction and / or position deviates from the weapon barrel axis B.1 to a non-negligible extent, but that this deviation is recorded and compensated for within the method according to the invention.
  • the image display device M is, for example, a monitor. It is connected to the image recording device V and is intended to make the images recorded by the image recording device V visible.
  • the computer unit can be integrated in the data processing system EDP ; this arrangement is common and also made in the example described; the function of the computer unit is thus performed by the data processing system EDP of the weapon system, which is already present, so that only the specific software S.1 is additionally required.
  • FIG. 1 also shows a target Z, which has the position Pa at the time Ta and the position Pb at the time Tb and which has the position Pc at the time Tc .
  • the target Z moves on a target trajectory; in FIG. 1 , the section z- of the target trajectory which was flown before the time Tc is represented by a solid line, while that section z + of the target trajectory which is likely to be flown after the time Tc is represented by a dashed line; a dash-dotted line represents that section z + eff of the target trajectory which is actually flown through after the time Tc , but which is not yet known at the time Tc .
  • the target Z is tracked or tracked by the fire control device F , and the state of movement of the target Z is determined.
  • the target Z had the position Pa and the associated movement state at the time Ta , and the position Pb and the associated movement state at the time Tb .
  • the data processing system computer that is associated with the weapon system, calculated at the time Tc retrospectively the state of motion of the target Z, which for the portion - the target trajectory includes, up to the time Tc.
  • a lead calculation is carried out in a manner known per se.
  • the data processing system EDP uses extrapolation to calculate the expected future movement state of the target Z, to which the target trajectory z + corresponds.
  • a so-called due date T * and an associated due date P * are determined such that a projectile G, which would be fired from a weapon barrel B of a weapon W at the instant Tc , would arrive at the due date P * at the due date T * .
  • the floor speed and the internal ballistics of floor P are included in the calculation.
  • target Z is then also expected in the immediate vicinity of the corresponding due position P * .
  • the target Z probably does not exactly reach the expected due position P * because its actual state of motion generally does not correspond to the calculated state of motion, so that the actual target trajectory z + eff does not coincide with the expected target trajectory z + or is flown through at the time as calculated.
  • the reserve calculation is carried out continuously in successive calculation times.
  • the pairs of values T *, P * determined for respectively related due times T * and due positions P * of the target Z are stored in a memory of the data processing system EDV in the manner of a table.
  • This table is continuously updated on the basis of further determinations of movement states of the target Z flying further in the section z + eff of the target trajectory .
  • the due date T * will not coincide exactly with one of the calculation dates.
  • the due date is the calculation date immediately following the due date T * , which does not belong to one of the stored value pairs.
  • the due position associated at this point in time is then determined by interpolation between the value pair T * / P * and a neighboring value pair from the stored value pairs of due positions and due dates. If a real projectile G were fired at the due position P * at the time Tc , it would fly along a projectile trajectory g and would arrive at the due position P * at the due date T * .
  • the target Z is at the due date T * in the area A of this due position P *, so that a hit would almost certainly have occurred if the projectile G had actually been shot down.
  • Software S.1 is used for these calculations.
  • gun barrel B was aimed at the respective due position when firing at the beginning of the projectile flight duration and for the purpose of firing a projectile; According to the invention, the aiming of the weapon barrel takes place only at the end of the projectile flight duration and thus at the time of maturity in order to take a picture.
  • the data processing unit EDP provides a signal on the basis of which the straightening means direct the weapon barrel B to the due position P * .
  • An image of this due position P * and its environment A is taken by the image recording device V at the due date T * . This image is visualized using the image display device V.
  • the aiming of the weapon barrel B and the recording of the image are also carried out continuously.
  • FIG. 2 shows a mark X, which represents the extension of the weapon barrel axis B1 , on the visualized image of the surroundings A. If bullet G had been fired at time Tc , this mark X would correspond to the end of bullet trajectory g .
  • the image of the target Z which is also denoted by Z, is also visible on the visualized image with a certain reposition of the mark X.
  • the location a of the image of the target Z from the mark X is a measure of the directional error of the weapon system. If the weapon system had no directional error, the image of target Z and mark X would coincide.
  • FIG. 4 which is not to scale, the processes described above are shown again, but here it is assumed that there is a distance d between the fire control device F and the weapon W.
  • the relative position of fire control device F and weapon W is measured by a position measuring device WF , which is shown in FIG. 4 ; this can be an internal position measuring device of the weapon system or a completely external position measuring device.
  • the fire control device F or its search and track unit, is active in an area C
  • the target Z is in the position Pc
  • the weapon barrel B would be aimed at the due position P * if a projectile were intended Shoot G ; this projectile G would still be in the weapon barrel B at the beginning of its projectile trajectory g which it would fly through after the launch.
  • the target Z is close to the due position P * and the weapon barrel B is aimed at the due position P * .
  • the directional error is shown in Fig. 3 as angle p.
  • the weapon system W has an internal position measuring device W-F or a position measuring device W-F which interacts with a GPS and which is connected to the data processing system EDV .
  • the software S.1 is also designed to include the ongoing change in the distance d and the angular position ⁇ between the weapon W and the fire control device F in the calculations.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
  • Radar Systems Or Details Thereof (AREA)
EP02022511A 2001-11-23 2002-10-07 Procédé et dispositif pour l'évaluation des erreurs de pointage d'un système d'arme et utilisation du procédé Expired - Lifetime EP1314950B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CH21672001 2001-11-23
CH21672001 2001-11-23

Publications (2)

Publication Number Publication Date
EP1314950A1 true EP1314950A1 (fr) 2003-05-28
EP1314950B1 EP1314950B1 (fr) 2005-11-16

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EP02022511A Expired - Lifetime EP1314950B1 (fr) 2001-11-23 2002-10-07 Procédé et dispositif pour l'évaluation des erreurs de pointage d'un système d'arme et utilisation du procédé

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Country Link
US (1) US6805036B2 (fr)
EP (1) EP1314950B1 (fr)
KR (1) KR100917932B1 (fr)
AT (1) ATE310225T1 (fr)
AU (1) AU2002301626B2 (fr)
CA (1) CA2408778C (fr)
DE (1) DE50204935D1 (fr)
ES (1) ES2252373T3 (fr)
NO (1) NO325944B1 (fr)
SG (1) SG125076A1 (fr)
ZA (1) ZA200208629B (fr)

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US20060005447A1 (en) * 2003-09-12 2006-01-12 Vitronics Inc. Processor aided firing of small arms
US7549367B2 (en) 2004-01-20 2009-06-23 Utah State University Research Foundation Control system for a weapon mount
US20110059421A1 (en) * 2008-06-25 2011-03-10 Honeywell International, Inc. Apparatus and method for automated feedback and dynamic correction of a weapon system
US8046203B2 (en) 2008-07-11 2011-10-25 Honeywell International Inc. Method and apparatus for analysis of errors, accuracy, and precision of guns and direct and indirect fire control mechanisms
US9151572B1 (en) * 2011-07-03 2015-10-06 Jeffrey M. Sieracki Aiming and alignment system for a shell firing weapon and method therefor
CA3020785A1 (fr) * 2016-04-25 2017-11-02 Bae Systems Plc Evaluation de la faisabilite d'une prise a partie d'objectifs d'une arme
WO2020235466A1 (fr) * 2019-05-23 2020-11-26 日立オートモティブシステムズ株式会社 Système de commande de véhicule et procédé de commande de véhicule
CN112432557B (zh) * 2020-11-19 2022-10-28 中国北方车辆研究所 试验室条件下的坦克射击精度测试系统
CN112833704B (zh) * 2021-01-06 2022-11-15 中国人民解放军63856部队 一种新的弹道偏流测试方法
CN115111963B (zh) * 2022-08-12 2024-05-14 中国人民解放军陆军工程大学 一种测量身管绝对指向的测试系统及其测试方法
CN116882846B (zh) * 2023-09-07 2023-11-21 北京中科智易科技股份有限公司 操炮训练智能考核系统、方法及计算机存储介质

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US4429993A (en) * 1980-11-26 1984-02-07 Ernst Leitz Wetzlar Gmbh Method and apparatus for testing the correspondence of line of sight with target line
WO1988008952A1 (fr) * 1987-05-15 1988-11-17 Contraves Ag Procede d'alignement d'agencement de conduite de tir et agencement de conduite de tir de mise en oeuvre du procede
US4878752A (en) * 1980-08-14 1989-11-07 The Marconi Company Limited Sighting system
EP1152206A1 (fr) * 2000-04-26 2001-11-07 Oerlikon Contraves Ag Procédé et dispositif pour corriger des erreurs de pointage entre appareils

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NL7905061A (nl) * 1979-06-29 1980-12-31 Hollandse Signaalapparaten Bv Werkwijze en inrichting voor het automatisch meten van richtfouten en het verbeteren van richtwaarden bij het schieten en richten van ballistische wapens tegen bewegende doelen.
FR2480424B1 (fr) * 1980-04-11 1987-07-10 Sfim Systeme de conduite automatique de tir air-air ou air-sol
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FR2712972B1 (fr) * 1993-11-25 1996-01-26 Aerospatiale Système de défense antiaérien et missile de défense pour un tel système.
US6584879B2 (en) * 2001-11-14 2003-07-01 Northrop Grumman Corporation System and method for disabling time critical targets

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Publication number Priority date Publication date Assignee Title
US3981010A (en) * 1972-07-03 1976-09-14 Rmc Research Corporation Object locating system
US4878752A (en) * 1980-08-14 1989-11-07 The Marconi Company Limited Sighting system
US4429993A (en) * 1980-11-26 1984-02-07 Ernst Leitz Wetzlar Gmbh Method and apparatus for testing the correspondence of line of sight with target line
WO1988008952A1 (fr) * 1987-05-15 1988-11-17 Contraves Ag Procede d'alignement d'agencement de conduite de tir et agencement de conduite de tir de mise en oeuvre du procede
EP1152206A1 (fr) * 2000-04-26 2001-11-07 Oerlikon Contraves Ag Procédé et dispositif pour corriger des erreurs de pointage entre appareils

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Publication number Publication date
DE50204935D1 (de) 2005-12-22
KR20030043679A (ko) 2003-06-02
NO20025618L (no) 2003-05-26
US20030140866A1 (en) 2003-07-31
NO325944B1 (no) 2008-08-25
SG125076A1 (en) 2006-09-29
ZA200208629B (en) 2003-05-19
AU2002301626B2 (en) 2008-06-26
CA2408778C (fr) 2009-09-15
CA2408778A1 (fr) 2003-05-23
ATE310225T1 (de) 2005-12-15
ES2252373T3 (es) 2006-05-16
EP1314950B1 (fr) 2005-11-16
KR100917932B1 (ko) 2009-09-21
NO20025618D0 (no) 2002-11-22
US6805036B2 (en) 2004-10-19

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