WO2000059257A1 - Procede et appareil de determination de la position d'un telephone cellulaire - Google Patents

Procede et appareil de determination de la position d'un telephone cellulaire Download PDF

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Publication number
WO2000059257A1
WO2000059257A1 PCT/US2000/008508 US0008508W WO0059257A1 WO 2000059257 A1 WO2000059257 A1 WO 2000059257A1 US 0008508 W US0008508 W US 0008508W WO 0059257 A1 WO0059257 A1 WO 0059257A1
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WO
WIPO (PCT)
Prior art keywords
remote station
base stations
relative delay
station
rtd
Prior art date
Application number
PCT/US2000/008508
Other languages
English (en)
Inventor
Samir S. Soliman
Nadav Levanon
Original Assignee
Qualcomm Incorporated
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 Qualcomm Incorporated filed Critical Qualcomm Incorporated
Priority to MXPA01009719A priority Critical patent/MXPA01009719A/es
Priority to AU40530/00A priority patent/AU4053000A/en
Priority to JP2000608643A priority patent/JP2002540439A/ja
Priority to EP00919917A priority patent/EP1166588A1/fr
Priority to BR0009346-7A priority patent/BR0009346A/pt
Priority to IL14541800A priority patent/IL145418A0/xx
Priority to CA002368193A priority patent/CA2368193A1/fr
Priority to KR1020017012477A priority patent/KR20020005643A/ko
Publication of WO2000059257A1 publication Critical patent/WO2000059257A1/fr

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Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/24—Radio transmission systems, i.e. using radiation field for communication between two or more posts
    • H04B7/26—Radio transmission systems, i.e. using radiation field for communication between two or more posts at least one of which is 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
    • G01S5/12—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 by co-ordinating position lines of different shape, e.g. hyperbolic, circular, elliptical or radial
    • 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

Definitions

  • the present invention relates to determining the location of a cellular telephone using forward and reverse link measurements. More particularly, the invention relates to a method to determine the position of a wireless mobile telephone - used in a code division multiple access system - using a combination of forward link measurements made at the mobile phone and reverse link measurements made at one or more base stations.
  • CDMA code division multiple access
  • a multiple access technique is disclosed in which a large number of mobile phones - also referred to as remote stations, where each remote station has a transceiver - are used and communicate with other remote stations or other types of stations through satellite repeaters or terrestrial base stations using CDMA spread spectrum communication signals.
  • a terrestrial base station also referred to as a base station, commonly receives communication signals from a remote station over a wireless reverse link and transmits communication signals to a remote station over a wireless forward link.
  • the area over which a communication may be successfully transmitted by a base station and received by a remote station is referred to as a cell.
  • One problem with wireless remote stations is that the location of the remote station is not known when it is sending to and receiving signals from a base station. If a remote station user makes a 911 emergency call, assistance can not be sent to the user unless the user knows the exact location from which he or she is calling. Because of this problem, location technologies have been given high priority. Further, regulatory forces and phone service carriers' desires to enhance revenues by offering superior services than those of competitors have fueled location technology developments. For example, in June 1996, the Federal Communications Commission (FCC) mandated support for enhanced emergency 911 service, designated E-911, and mandated that the location of the cellular transceiver be sent back to a designated public safety answering point. To comply with the FCC mandate, at least 77,000 sites in the United States alone are to be equipped with automatic location technologies by the year 2005.
  • FCC Federal Communications Commission
  • the extrapolation techniques used require communication with at least three base stations, requiring the concentration of cell sites to be increased or, as mentioned above, the transmission power of each remote station to be increased.
  • This type of location technology has significant drawbacks. Increasing the number of base stations is extremely expensive. Alternatively, increasing remote station transmission power increases the likelihood of interference between remote stations, and may require additional hardware to be added to the remote station. Lastly, these known techniques do not appear to offer the accuracy required by the FCC mandate.
  • the invention should at least be compatible with CDMA modulated communication systems, and preferably also be compatible with the other communication techniques used in large mobile communication systems, such as time division multiple access (TDMA), frequency division multiple access (FDMA), and amplitude modulation (AM) techniques.
  • TDMA time division multiple access
  • FDMA frequency division multiple access
  • AM amplitude modulation
  • the present invention determines the position of a remote station, such as a mobile cellular telephone, using a combination of forward link measurements made at the remote station and reverse link measurements made at one or more base stations.
  • the forward link measurements are taken from signals transmitted from two or more base stations and received by the remote station.
  • the invention relates to a method, apparatus and article of manufacture used to determine the position of a remote station using a combination of measurements, such as the relative delay from two or more base stations and round-trip-delay of a communication made between the remote station and one or more base stations. These measurements are used to perform calculations that yield the position of the remote station.
  • the apparatus performing the calculations may use a-priori information on the exact location of all base stations participating in the mobile location determination, as well as inherent delay calibrations associated with the base stations.
  • One embodiment of the invention provides a method to determine the position of a remote station using a combination of forward link measurements made at the remote station, with reverse link measurements made at one or more base stations.
  • the forward link measurements are taken from signals transmitted from two or more base stations and received by the remote station. These measurements include at least one round-trip-delay for a communication made between the remote station and a base station, and relative delay measurements taken at the remote station.
  • the measurement results are received at a central processing station - also referred to as a "primary" base station, where a primary base station is the base station primarily handling the communication initiated by the remote station.
  • the central processing station performs calculations to determine the remote station position, and may use a- priori information on the exact location of all the participating base stations, as well as the delay calibrations, if any, associated with such base stations.
  • the invention may be implemented as an apparatus used to determine the position of a remote station using the combination of forward link and reverse link measurements.
  • the apparatus may include processors, controllers, data storage, receivers, transmitters, and a variety of other hardware depending upon the configuration for each embodiment.
  • the invention may comprise an article of manufacture, such as a digital signal bearing medium, tangibly embodying machine-readable instructions executable by a digital processing apparatus and Lised to determine the position of the remote station using the combination of forward and reverse link measurements.
  • the invention provides its users with numerous advantages.
  • One advantage is that the number of base stations required to locate the remote station is reduced.
  • Another advantage is that if three or more base stations are used to locate the remote station, the location may be determined to a greater certainty than the location provided using prior art methods.
  • Yet another advantage is that using the round-trip-delay measurement in determining the location of the remote station improves, sometimes dramatically, the geometric dilution of precision for a given set of base stations. As discussed below, good geometric dilution of precision means that the effect of any measurement error on position is small and often negligible.
  • FIGURE 1 is a block diagram of hardware components and interconnections of a telecommunications system incorporating wireless links in accordance with one embodiment of the invention
  • FIGURE 2 is an illustration of an article of manufacture pursuant to the invention.
  • FIGURE 3 shows a block diagram depicting the general operating steps used to control the operational characteristics of an apparatus such as shown in Figure 1 in accordance with one embodiment of the present invention
  • FIGURE 4 is a block diagram of further defining method step 308, shown in Figure 3;
  • FIGURES 5-14 illustrate performance characteristics in accordance with one embodiment of the present invention and includes comparisons with known prior art.
  • FIGURES 1 through 4 illustrate examples of the various apparatus, article of manufacture, and method aspects of the present invention.
  • Figures 5- 14 illustrate performance characteristics for one embodiment of the present invention and compares these characteristics to other known methods. For ease of explanation, but without any limitation intended, these examples are described in the context of a digital telecommunication system incorporating wireless links, one example of which is described below.
  • FIG. 1 illustrates one type of telecommunications system 100 including wireless links as Lised in the present invention.
  • a communication typically a telephone call or data transfer such as a facsimile, is sent from a telephone via a telephone company's link 104 to a base station controller (MSC) 102.
  • the MSC 102 generally comprises hardware known in the art and used to perform switching functions. These switching functions are used to coordinate the transfer of one or more communications to a remote station 116.
  • the link 104 may comprise any type of communication link known in the art for transporting an information signal, such as a wireless link, a fiber optic cable, or copper or aluminum wire.
  • the MSC may include a transceiver sub-system referred to as a base station or BS.
  • the BS --such as BS 106 or 108— provides a radio link between a remote unit 116 and the MSC 102.
  • the BS also provides a signal generation protocol, such as
  • a remote station 116 refers to all types of telecommunication units, generically referred to as telephones, using a wireless link as a primary means for transferring a communication, such as a cellular, mobile, portable, wireless local loop, or subscriber unit.
  • the remote station comprises a transceiver Linit and other circuitry well known in the art and used to receive and transmit a communication.
  • the remote station may include a processor - configured in part to calculate desired information as discussed in the method section below - and storage, both used to measure designated characteristics of a communication, such as the relative delay of a signal received from a base station. This information, or a representative value, may be transmitted to a base station.
  • MSC 102 may be coupled to a base station such as BS 106 or 108 by a link 110.
  • Link 110 may be of the same or similar construct as link 104.
  • the BS may include a processor and storage used to measure selected communication characteristics, such as any delay (D) between the time a communication is sent to and a responsive communication is received from a remote station 116.
  • D any delay
  • the BS attempts a radio link between the BS and the remote unit 116.
  • each BS has a limited range, as shown by area 114 for BS 106, and area 112 for BS 108.
  • both BSs may transmit signals that are received by the remote station 116. If remote station 116 moves out of area 114 and is still within area 112, then BS 106 may discontinue transmitting a signal intended for remote station 116.
  • Hand-offs are generally divided into two categories- hard handoff s and soft handoffs.
  • a hard handoff when a remote station leaves an origination base station, such as BS 106, and enters a destination base station, such as BS 108, the remote station breaks its communication link with the origination base station and thereafter establishes a new communication link with the destination base station.
  • soft handoff the remote station completes a communication link with the destination base station prior to breaking its communication link with the origination base station.
  • the remote station is redundantlv in comrmmication with both the origination base station and the destination base station for some period of time.
  • Soft handoffs are far less likely to drop calls than hard handoffs.
  • a remote station when a remote station travels near the coverage boundary of a base station, it may make repeated handoff requests in response to small changes in the environment. This problem, referred to as ping-ponging, is also greatly lessened by soft handoff.
  • the process for performing soft handoff is described in detail in U.S. Patent No. 5,101,501, entitled “METHOD AND SYSTEM FOR PROVIDING A SOFT HANDOFF IN COMMUNICATIONS IN A CDMA CELLULAR TELEPHONE SYSTEM," and U.S. Patent No.
  • a BS may be integral to BSC 102, or a public switched telephone network, commonly referred to as a PSTN, may be included in the system.
  • PSTN public switched telephone network
  • a different aspect of the invention concerns a method for determining the position of a remote station. Such a method may be implemented, for example, by operating a digital signal processor (not shown) to execute a sequence of machine-readable instructions. These instructions may be inherent to the processor or may be contained within one or more data storage units coupled to the processor.
  • the sequence of machine-readable instructions may reside in whole or in part in various types of data storage units.
  • one aspect of the present invention concerns an article of manufacture comprising a data storage medium tangibly embodying a program of machine-readable instructions executable by a processor, such as a digital signal processor, to perform method steps to determine the position of a remote station using a relative delay and a RTD measurement, as discussed below, for a communication made between the remote station and two or more base stations.
  • the data storage medium may comprise, for example, memory units contained within the base station 106. These memory units may be located in whole or part within the controller 102 or the remote station 116, or any other location within communicative access with the telecommunications system 100.
  • the instructions may be contained within another type of data storage medium, such as a magnetic storage diskette 200 ( Figure 2), or any other type of data storage medium, such as a direct access storage device (DASD), electronic read-onlv storage (CD-ROM or WORM), or even paper punch cards.
  • DASD direct access storage device
  • CD-ROM or WORM electronic read-onlv storage
  • the machine-readable instructions may comprise lines of compiled "C-type" or other source code language.
  • FIG. 3 shows a basic method 300 for determining the position of a remote station 116 using the present invention.
  • Figure 4 shows step 308 of the basic method 300 in greater detail, providing a method for position determination using the relative delay and a RTD measurement for communication exchanged between the remote station 116 and at least two base stations, shown as base stations 106 and 108 in Figure 1.
  • the method 300 shown in Figure 3 starts at task 302 when forward link measurements for a communication are made at the remote site 116 shown in Figure 1.
  • the forward link is the wireless communication link between a BS and the remote station 116.
  • These measurements yield in task 304 the relative delays of communication signals received by the remote station 116 from two or more BSs, such as base stations 106 and 108.
  • the relative delays correspond to a range-difference between the various BSs and the remote station 116.
  • at least one RTD measurement - taken for a communication between a serving base station and remote station 116 - is added to the relative delavs of task 304.
  • This RTD measurement is inherentlv available at the serving base station, that is, a base station in communication with the remote station 116.
  • the position calculations are made at a base station in one embodiment of the invention. However, in other embodiments, the position calculation may be made at any location having access to the relative delay and RTD measurements, such as the controller 102 shown in Figure 1. Assuming the position calculation occtirs at BS 106, the base station receives all available RTD measurements from the other base stations, as well as relative delav measurements from the remote station 116. In this embodiment, the remote station 116 does not store base station information, such as the location of a BS, or delay calibrations, and does not perform the position calculations. Usually it is the comim-nicahons system 100 that needs to know the phone position (e.g., for 911 calls), therefore a base station makes the position determination. If needed, the calculated position can be transmitted to the remote station 116.
  • the remote station 116 may store some or all of the measurement information, or may perform some or all of the calculations required to determine its location, therebv making the position determination more efficient, hence faster.
  • the remote station 116 may perform some processing in order to average and reduce the many repetitions of the relative delay measLirements into a representative relative delay value for each base station. This "pre-processing" helps reduce any measurement error and allows transmitting the minimum necessary information to the serving base station.
  • a less desirable alternative is for the remote station 116 to transmit to the serving base station the repetitious raw relative delay measurements.
  • a Geometric Dilution of Precision (GDOP) for a set of base stations.
  • Good GDOP minimizes the affect any measurement errors may have on determining position location for a remote station.
  • This RTD measurement reduces the minimum number of base stations required to determine the location of the remote station 116, and reduces ambiguity inherent in determining the location using two or more base stations. For example, in one embodiment, two base stations are required for a location with minor ambiguity. In another embodiment, three base stations are required for an "ail-but" or ambiguity-free location.
  • the location of a remote station may be anywhere within a three- dimensional area defined by the cells of the base stations, such as areas 114 and 116 for BSs 106 and 108, respectively, shown in Figure 1.
  • a two-dimensional scenario is assumed in task 402 where the base stations and the remote station are all in the same horizontal plane. This plane has an eastward coordinate x and a northward coordinate y. Unless the remote station or a base station is very high off the ground with respect to the other, this two- dimensional scenario works very well.
  • pseudo-ranges are used extensively in global positioning system (GPS) methods and are well known in the art.
  • GPS global positioning system
  • ⁇ [x y ⁇ ] , where [ ] ⁇ indicates the transpose of a matrix.
  • RTD measurement and x, and y are the coordinates of the i th BS, and N is the total number of BSs used.
  • An RTD measurement associated with a first BS yields a true range to the first BS. Assuming a noise free environment, the relationship between a RTD measurement and the location of a remote station may be given by
  • a derivative matrix H is arranged where:
  • GDOP can be easily converted to random positioning error standard deviation (STD), if it is assumed that any random measurement errors are independent and identically distributed (iiD) with an error STD of ⁇ R . In that case, the STD of the horizontal positioning error is simply GDOP • ⁇ R .
  • the N pseudo-range measurements may be replaced with the IV- 1 range-difference measurements and eliminate ⁇ from the unknown vector, yielding substantially similar positioning results.
  • this substitution makes the GDOP calculation more complex because the errors in the range-difference measurements are not independent. Therefore, the calculation of the matrix G involves a non-diagonal error covariance matrix.
  • the position of the remote station is determined in task 412 using iterative least-squares algorithms. This algorithmic technique is well known in the art. The method ends in task 414.
  • contour maps of the GDOP are shown in Figures 6-8, and 10-14.
  • the first example uses three base stations arranged in an equilateral triangle as shown in Figure 5.
  • the contour map of Figure 6 represents a remote station position solution using only relative delays (pseudo-ranges) as suggested in the prior art, such U.S. patent No. 5,646,632 referenced above.
  • the contour map of Figure 7 represents a solution using relative delays plus one RTD , according to our method.
  • the presence of only two base stations still yields large areas with a GDOP smaller than 2.5 on both sides of the baseline.
  • the GDOP increases slightly - to approximately 2.3 - from the three base station resolution of 1.9 shown in Figure 7.
  • the position of the remote station is obtained using iterative least-squares algorithms.
  • the resulting position solution also corresponds to the intersection points between iso-curves generated from the available measurements.
  • the intersections for the prior art method using relative delay (range-difference) measurements only are displayed for the equilateral triangle arrangement of the base stations.
  • These iso-range-difference curves are hyperbolas. Note that outside the hypothetical triangle (not shown) connecting the base stations, and especially near the edges of the figure, the intersecting hyperbolas are nearly tangential. This tangential characteristic represents the cause for the inferior GDOP values noted in these areas for the prior art.
  • Iso-range-difference curves for the present invention are shown in Figure 13. Including at least one RTD measurement between the remote station and, in this example, BS #1 adds iso-RTD curves represented by the circles centered at BS #1 and extending outward therefrom. These "circles” add favorable (nearly perpendicular) intersections with the iso-range-difference curves, resulting in a lower GDOP.
  • any intersection between an iso -RTD curve (the circles) and an iso-range-difference curve (the hyperbolas) has a "twin" or "mirror" intersection that is symmetric with respect to a hypothetical line (not shown) connecting the two base stations, in this example BS #1 and BS #2.
  • This twin intersection may cause ambiguity in determining the location of the remote station 116. If necessary, this ambiguity can generally be resolved using antenna sector information. For example, if two possible solutions are determined for the location of the remote station 116, it may be possible to eliminate one based on the transmission characteristics of the antenna used for that sector or area.

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Mobile Radio Communication Systems (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

L'invention concerne un procédé et un appareil de détermination de la position (116) d'une station à distance tel qu'un téléphone cellulaire mobile grâce à des mesures de retard relatif et de distance absolue. Plus particulièrement, l'invention permet de déterminer la position d'une station à distance (116) grâce à la combinaison des mesures de liaison aval effectuées dans la station à distance (116) et des mesures de liaison inverse effectuées dans une ou plusieurs stations de base (106, 108). Ces mesures s'utilisent pour calculer la position de la station à distance (116). Un appareil de calcul peut utiliser des informations a priori sur la position exacte de toutes les stations de base concernées par la détermination de la position du mobile, ainsi que des étalonnages de retard associés aux stations de base.
PCT/US2000/008508 1999-03-29 2000-03-28 Procede et appareil de determination de la position d'un telephone cellulaire WO2000059257A1 (fr)

Priority Applications (8)

Application Number Priority Date Filing Date Title
MXPA01009719A MXPA01009719A (es) 1999-03-29 2000-03-28 Metodo y aparato para determinar la posicion de un telefono celular.
AU40530/00A AU4053000A (en) 1999-03-29 2000-03-28 Method and apparatus for determining the position of a cellular telephone
JP2000608643A JP2002540439A (ja) 1999-03-29 2000-03-28 セルラー電話機の位置を決定するための方法および装置
EP00919917A EP1166588A1 (fr) 1999-03-29 2000-03-28 Procede et appareil de determination de la position d'un telephone cellulaire
BR0009346-7A BR0009346A (pt) 1999-03-29 2000-03-28 Método e equipamento para determinar a posição de um telefone celular
IL14541800A IL145418A0 (en) 1999-03-29 2000-03-28 Method and apparatus for determining the position of a cellular telephone
CA002368193A CA2368193A1 (fr) 1999-03-29 2000-03-28 Procede et appareil de determination de la position d'un telephone cellulaire
KR1020017012477A KR20020005643A (ko) 1999-03-29 2000-03-28 셀룰라 전화기의 위치를 결정하는 방법 및 장치

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US28060499A 1999-03-29 1999-03-29
US09/280,604 1999-03-29

Publications (1)

Publication Number Publication Date
WO2000059257A1 true WO2000059257A1 (fr) 2000-10-05

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PCT/US2000/008508 WO2000059257A1 (fr) 1999-03-29 2000-03-28 Procede et appareil de determination de la position d'un telephone cellulaire

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EP (1) EP1166588A1 (fr)
JP (1) JP2002540439A (fr)
KR (1) KR20020005643A (fr)
CN (1) CN1345523A (fr)
AU (1) AU4053000A (fr)
BR (1) BR0009346A (fr)
CA (1) CA2368193A1 (fr)
IL (1) IL145418A0 (fr)
MX (1) MXPA01009719A (fr)
WO (1) WO2000059257A1 (fr)

Cited By (5)

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GB2366490A (en) * 2000-08-21 2002-03-06 Roke Manor Research Method of locating a transceiver
JP2004518359A (ja) * 2000-11-16 2004-06-17 クゥアルコム・インコーポレイテッド 中継器のための検出および補償を有する無線通信システムにおける位置決定
EP1695570A2 (fr) * 2003-11-26 2006-08-30 QUALCOMM Incorporated Procede et dispositif pour calculer une estimation de position d'une station mobile au moyen d'informations reseau
US9137771B2 (en) 2004-04-02 2015-09-15 Qualcomm Incorporated Methods and apparatuses for beacon assisted position determination systems
CN116299167A (zh) * 2022-07-07 2023-06-23 广东师大维智信息科技有限公司 狭长空间定位方法、计算机可读存储介质及计算机设备

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KR100834616B1 (ko) * 2002-02-27 2008-06-02 삼성전자주식회사 이동 단말기의 위치결정 방법
US7123928B2 (en) * 2003-07-21 2006-10-17 Qualcomm Incorporated Method and apparatus for creating and using a base station almanac for position determination
KR101356019B1 (ko) 2012-05-23 2014-02-05 한국과학기술원 휴대폰 망 이중분리 레이더에서 위치 추정 오차를 줄이는 위치 추정 방법 및 그 시스템

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2366490A (en) * 2000-08-21 2002-03-06 Roke Manor Research Method of locating a transceiver
JP2004518359A (ja) * 2000-11-16 2004-06-17 クゥアルコム・インコーポレイテッド 中継器のための検出および補償を有する無線通信システムにおける位置決定
EP1695570A2 (fr) * 2003-11-26 2006-08-30 QUALCOMM Incorporated Procede et dispositif pour calculer une estimation de position d'une station mobile au moyen d'informations reseau
EP1695570A4 (fr) * 2003-11-26 2011-09-21 Qualcomm Inc Procede et dispositif pour calculer une estimation de position d'une station mobile au moyen d'informations reseau
US9020539B2 (en) 2003-11-26 2015-04-28 Qualcomm Incorporated Method and apparatus for calculating a position estimate of a mobile station using network information
US9137771B2 (en) 2004-04-02 2015-09-15 Qualcomm Incorporated Methods and apparatuses for beacon assisted position determination systems
CN116299167A (zh) * 2022-07-07 2023-06-23 广东师大维智信息科技有限公司 狭长空间定位方法、计算机可读存储介质及计算机设备

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Publication number Publication date
AU4053000A (en) 2000-10-16
CA2368193A1 (fr) 2000-10-05
BR0009346A (pt) 2002-12-31
CN1345523A (zh) 2002-04-17
MXPA01009719A (es) 2002-05-14
IL145418A0 (en) 2002-06-30
JP2002540439A (ja) 2002-11-26
EP1166588A1 (fr) 2002-01-02
KR20020005643A (ko) 2002-01-17

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