WO2004034083A2 - Installation et procede de mesure acoustique par microphone repere dans l'espace - Google Patents
Installation et procede de mesure acoustique par microphone repere dans l'espace Download PDFInfo
- Publication number
- WO2004034083A2 WO2004034083A2 PCT/FR2003/002937 FR0302937W WO2004034083A2 WO 2004034083 A2 WO2004034083 A2 WO 2004034083A2 FR 0302937 W FR0302937 W FR 0302937W WO 2004034083 A2 WO2004034083 A2 WO 2004034083A2
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- ultrasonic
- antenna
- acoustic measurement
- transmitter
- acoustic
- Prior art date
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/14—Systems for determining distance or velocity not using reflection or reradiation using ultrasonic, sonic, or infrasonic waves
-
- 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
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/186—Determination of attitude
-
- 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
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/30—Determining absolute distances from a plurality of spaced points of known location
Definitions
- the object of the present invention relates to the technical field of acoustic measurement in the general sense in a measurement area whose position must be known in space.
- the present invention relates more precisely to the field of measurement of an acoustic field originating from a direct, indirect, single or multiple source, this measurement being carried out in a region marked spatially and located in the environment of the sound source.
- the object of the invention finds a particularly advantageous application in the field of acoustic measurement inside a volume such as a room inside a building or the passenger compartment of a means of transport. (cabin or vehicle), or in the environment of a sound source such as an engine or machine.
- a volume such as a room inside a building or the passenger compartment of a means of transport. (cabin or vehicle), or in the environment of a sound source such as an engine or machine.
- an acoustic measurement installation comprising a measurement instrumentation comprising an acoustic measurement antenna generally equipped with a series of microphones.
- This acoustic measurement antenna is generally carried by a robotic arm whose spatial position is determined by measurement sensors.
- the object of the invention therefore aims to remedy the drawbacks stated above by proposing an acoustic measurement installation designed to present a limited bulk while offering the possibility of collecting in a precise manner. and reliable the measurement of an acoustic field coming from one or more sound sources.
- the invention relates to an acoustic measurement installation comprising: - an acoustic measurement instrumentation comprising in particular an acoustic measurement antenna equipped with at least one microphone, a system for positioning the antenna by ultrasound comprising: • at least one ultrasonic transmitter mounted on the antenna at a known distance from the microphone, • a base for ultrasonic reception of the signals transmitted by each transmitter and adapted to determine the position of each transmitter in space, and a unit for control of the antenna positioning system and of the acoustic measurement instrumentation, suitable for, in a first phase, successively controlling each transmitter in transmission in order to determine the position of the antenna in space and, in a second phase, acquire the microphones to acquire the acoustic measurement using the measuring instrumentation.
- Another object of the invention is to provide a suitable method for performing acoustic measurements in a spatially identified area with great precision while being simple to implement.
- the acoustic measurement method comprises the following steps: equipping an acoustic measurement antenna comprising at least one microphone, with at least one ultrasonic transmitter mounted at a known distance from the microphone,
- an ultrasonic reception base adapted to receive a sound signal emitted by the ultrasonic transmitter and to determine the position of the transmitter, successively command each ultrasonic transmitter in transmission so that the ultrasonic reception base determines the position of each transmitter and subsequently each microphone, and after the end of the step of controlling the transmission of all the ultrasonic transmitters, controlling the microphones in acquisition so as to ensure the acoustic measurement of the sound source.
- the method according to the invention additionally comprises the following steps:
- a reference structure defining at least one repository with at least three points, successively command each ultrasonic transmitter to emit an acoustic pointer equipped with at least two transmitters and for each position of the pointer placed on each reference point so as to make it possible to determine the position of the reference points in a reference linked to the position of the ultrasonic receiving base.
- the method according to the invention comprises, in addition to the preceding steps with a view to widening the acoustic measurement coverage, the following steps: moving the ultrasonic reception base to place it in a second position fixed, successively command each ultrasonic transmitter of the pointer and for each position of the pointer placed on each point of the reference system so as to make it possible to determine the position of the points of the reference system in another reference linked to the second position of the ultrasonic reception base , and from the position of the reference points for the first and second positions of the ultrasonic reception base, determine the positions of each microphone in a single reference.
- FIG. 1 is a schematic view showing an example of application of an acoustic measurement installation according to the invention.
- Fig. 2 is a general view of an acoustic measurement antenna forming part of the installation according to the invention.
- Fig. 3 is a detailed view of the acoustic measurement antenna illustrated in the
- Fig. 4 is a timing diagram explaining the operation of the acoustic measurement installation according to the invention.
- Fig. 5 is a diagram illustrating an alternative embodiment of the acoustic measurement installation according to the invention.
- the present invention relates to an installation 1 for enabling acoustic measurement to be carried out for positioning in space.
- the installation 1 is adapted to collect in a geometrical location identified, the acoustic field coming directly from one or more sound sources or indirectly such as by transparency of a wall, acoustic leaks, etc.
- the installation 1 is suitable for carrying out an acoustic measurement inside a closed enclosure 2 which in the example illustrated is formed by the passenger compartment of a vehicle.
- the sound source can be single (engine noise) or multiple (engine noise associated with those coming from outside the passenger compartment and perceived inside the passenger).
- the installation 1 according to the invention can receive other applications such as the acoustic measurement inside a housing or the acoustic measurement carried out in the open or confined environment of a sound source such as a machine for example.
- the installation 1 comprises an acoustic measurement instrumentation 3 comprising in particular an acoustic measurement antenna 4 equipped with at least one and in the example illustrated, with a series of microphones 5 the number of which depends on the desired precision, the target frequency range, and the extent of the area in which the acoustic measurements are to be made.
- the microphones 5 are connected to a unit 6 for acoustic measurement of the signals picked up by the microphones 5.
- the various processing functions of the unit 6 are not described in the following description because they are well known and are part of the technical knowledge of the skilled person.
- the acoustic measurement antenna 4 comprises, in the example illustrated, sixty-four microphones 5 extending in one plane and distributed over eight columns and eight rows. Microphones
- the microphones 5 are mounted on a support 7 forming a kind of frame with crosspieces.
- the microphones 5 are connected to the processing unit 6 by a link 8.
- the acoustic measurement antenna 4 is equipped with a member 9 for holding the antenna in position, which in the example illustrated is constituted by a handle for holding and controlling as will be explained in the rest of the description.
- This handle 9 which extends from the support 7 thus makes it possible to have an antenna 9 of portable nature.
- the handle 9 is mounted movable relative to the acoustic measurement antenna 4.
- the handle 9 is mounted movable relative to the antenna 4 along a hinge axis 10 allowing its pivoting relative to the support to facilitate the positioning of the acoustic measurement antenna 4.
- the installation 1 also includes a system 11 for positioning the acoustic measurement antenna 4 by an ultrasonic method.
- the purpose of this system li is to determine the coordinates in space of the acoustic measurement antenna 4.
- This positioning system 11 comprises at least one and in the example illustrated, four ultrasonic emitters 12 mounted on the measurement antenna acoustic 4 at a known distance from the microphones 5. It must be understood that each ultrasonic transmitter 12 must be placed at a known distance from at least one microphone 5 insofar as the microphones 5 are separated from each other by a distance which is known. The number of ultrasonic transmitters 12 depends on the type of antenna used.
- the acoustic measurement antenna 4 is equipped with: an ultrasonic emitter 12 when the antenna 4 comprises a microphone 5, at least two ultrasonic emitters 12 when the antenna 4 comprises a series of microphones 5 arranged linearly, at least three ultrasonic emitters 12 when the antenna 4 comprises a series of microphones 5 arranged in a plane. and at least four ultrasonic emitters 12 when the antenna 4 comprises a series of microphones 5 arranged in a volume.
- the acoustic measurement antenna 4 is planar and is equipped with four ultrasonic emitters 12, as a safety measure in the event that an emitter 12 is hidden.
- the installation 1 also includes a base 14 for ultrasonic reception of the signals emitted by each ultrasonic transmitter 12.
- This ultrasonic reception base 14 is also suitable for determining the position in space of each ultrasonic transmitter 12 and consequently the position in the space of the microphones 5 or generally of the antenna 4. In known manner, this base 14 determines by a goniometric or interferometric method the position in the space of the ultrasonic emitters 12.
- the base 14 is equipped with at least three ultrasonic receivers and processing and calculation means to determine the position in space of the ultrasonic transmitters 12 and consequently of the antenna 4. It should be noted that the positioning accuracy of the antenna 4 is directly dependent on the position of the ultrasonic reception base 14 in the beam of the transmitters 12.
- each ultrasonic transmitter 12 is mounted on the antenna 4 on a mobile support 7 ⁇ for adjusting the axis of the transmitter 12 relative to the ultrasonic reception base.
- the movable support 7 ⁇ which is constituted in the form of a cardan joint makes it possible to adjust the axis of each transmitter 12 in two planes.
- the installation 1 also includes a control unit 16 of the positioning system 11 and of the acoustic measurement instrumentation 3.
- This control unit 16 comprises means suitable for, in a first phase Ti (FIG. 4), ordering successively transmit each transmitter 12 so that the base 14 can determine the position of the antenna 4.
- the unit 16 controls in acquisition, according to a second phase T 2 , the microphones 5 to ensure the acoustic measurement using the acoustic measurement unit 6.
- the position of the microphones 5 determined by the ultrasonic reception base 14 is transmitted to the measurement unit 6 so that the position of each microphone 5 is known and transmitted to the acoustic measurement unit 6.
- the operation of the acoustic measurement installation 1 according to the invention follows directly from the above description.
- the acoustic measurement method described below relates to the acoustic measurement carried out inside a passenger compartment 2 of a motor vehicle.
- the method according to the invention can be implemented in measurement situations without confinement (open environment).
- the acoustic measurement antenna 4 is placed in a fixed position relative to the sound source.
- the acoustic measurement antenna 4 is held in a position by an operator carrying the antenna 4 by its handle 9.
- the ultrasonic reception base 14 is placed opposite or in relation to the antenna 4 so as to be in "Acoustic view”.
- the ultrasonic reception base 14 is therefore adapted to receive a sound signal emitted by each ultrasonic transmitter 12 mounted at a known distance from the microphone (s) 5 fitted to the acoustic measurement antenna 4. As shown more precisely in FIG.
- the method consists in successively controlling in transmission, each ultrasonic transmitter 12 (designated by the references 12], 12 2 , 12 3 , 12 4 ) so that the ultrasonic reception base 14 determines the position of each ultrasonic transmitter and consequently of each microphone 5.
- the operator controls, in transmission, each ultrasonic transmitter 12 using, for example, a control button 17 placed on the handle 9.
- a signal is transmitted so as to stop the transmission of the first ultrasonic transmitter 12.
- the operator controls the second ultrasonic transmitter 12 in transmission so that the ultrasonic reception base 14 determines its position. This operation is repeated for all of the ultrasonic emitters 12, namely four in the example illustrated.
- the second step T 2 of the method consists in acquiring acoustic signals (in the audible band) using microphones 5.
- the operator controls, for example by means of a control button 18 placed on the handle 9, the microphones 5 in acquisition so as to ensure the acoustic measurement of the sound source.
- the acoustic measurement instrumentation 3 and in particular the processing means 6 make it possible to collect and process the signals picked up by each microphone 5 whose position in space is known and determined by the ultrasonic reception base 14.
- the above two steps are carried out while maintaining in a fixed position, the acoustic measurement antenna 4 and the ultrasonic reception base 14. Of course, these two steps can then be repeated in order to optionally other positions for the acoustic measurement antenna 4. In fact, the positioning of the antenna 4 in different areas of space makes it possible to collect the acoustic field in different areas extending away from the ultrasonic reception base 14 However, it should be noted that the acoustic measurement antenna 4 must always be placed in order to be in “acoustic view” (in terms of range and angular opening of the ultrasonic beam) relative to the ultrasonic reception base 14.
- Fig. 5 illustrates an exemplary embodiment in which the space for carrying out the measurements, that is to say the positioning of the antenna 4 is increased.
- the installation 1 comprises a system 20 for positioning the ultrasonic reception base 14.
- a positioning system 20 comprises a fixed reference structure 21 defining at least one frame of reference with at least three points Pj.
- Such a positioning system 20 also includes a mobile acoustic pointer 22 equipped with at least two ultrasonic emitters 23.
- the positioning system 20 also includes control and processing means forming, for example, part of the control unit 16 and allowing to successively command the ultrasonic emitters 23 of the acoustic pointer 22 for each position of the pointer in relation to the points of the reference frame and for each position Bi, B 2 , etc.
- the reception base 14 so as to determine the position of the reference points in a reference linked to each position of the reception base in order to determine the positions in the space of the antenna 4 in a single reference.
- the implementation of the positioning system 20 of the ultrasonic base 14 follows from the above description.
- the reference structure 21 is placed in a fixed manner inside the volume 2 in which the measurements are to be made.
- the acoustic pointer 22 is placed on a first point Pj of the frame of reference. In this position, the first ultrasonic transmitter 23 of the pointer is controlled in transmission so that the ultrasonic reception base 14 determines its position in space as explained above.
- the second ultrasonic transmitter 23 of the acoustic pointer 22 is then commanded to transmit so that the ultrasonic receiving base 14 also determines its position in space.
- the ultrasonic reception base 14 is capable to determine the coordinates of the first point Pj of the frame of reference. Conventionally, the ultrasonic reception base 14 performs this calculation of the coordinates by a goniometric or interferometric method.
- the acoustic pointer 22 is then placed on a second point Pi of the reference frame and the acoustic acquisition phase as described above is carried out so as to determine the coordinates of the second point Pj of the reference frame. This step is repeated for the third position of the acoustic pointer 22 placed in relation to the third point Pj of the frame of reference.
- the position in the space of the points Pi of the frame of reference is determined in a frame linked to a position Bi of the ultrasonic reception base 14. It is thus possible to carry out one or more acoustic acquisitions as described above, by moving the antenna 4.
- the ultrasonic reception base 14 In the case where measurements have to be made outside the acoustic view of the ultrasonic reception base 14 placed in its first position Bi, provision may be made to move the ultrasonic reception base 14 to a second position B 2 as illustrated in Fig. 5.
- this second fixed position B 2 the acoustic pointer 22 is placed on a point of the reference frame Pi and each ultrasonic emitter 23 is successively controlled in emission so as to to determine the position of the point of the reference frame Pi using the ultrasonic receiving base 14 as described above.
- the acoustic pointer 22 is moved as described above successively to the other two points P, - of the reference frame with successive emission control of each ultrasonic transmitter 23.
- the ultrasonic reception base 14 thus makes it possible to determine the position in space of the points Pi of the reference frame in another reference frame linked to the second position B 2 of the ultrasonic reception base 14.
- Knowledge of the points Pi of the fixed reference frame in two reference points linked to the ultrasonic reception base 14 makes it possible to deduce the passage matrix d 'A position to the other of the base 14.
- the coordinates of the microphones 5 can therefore be expressed in a single reference even when moving the ultrasonic receiving base 14.
- the ultrasonic receiving base 14 can be moved several times.
- the fixed reference structure 20 comprises several reference systems separated from each other by a known distance. The invention is not limited to the examples described and shown since various modifications can be made without departing from its scope.
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2004542556A JP2006502398A (ja) | 2002-10-08 | 2003-10-07 | 空間内においてマーカーマイクロフォンによって音響計測を行う装置及び方法 |
US10/502,654 US7121142B2 (en) | 2002-10-08 | 2003-10-07 | Installation and method for acoustic measurement with marker microphone in space |
EP03807871A EP1549968A2 (fr) | 2002-10-08 | 2003-10-07 | Installation et procede de mesure acoustique par microphone repere dans l'espace |
AU2003300477A AU2003300477A1 (en) | 2002-10-08 | 2003-10-07 | Installation and method for acoustic measurement with marker microphone in space |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR0212456 | 2002-10-08 | ||
FR0212456A FR2845510B1 (fr) | 2002-10-08 | 2002-10-08 | Installation et procede de mesure acoustique par microphone repere dans l'espace |
Publications (2)
Publication Number | Publication Date |
---|---|
WO2004034083A2 true WO2004034083A2 (fr) | 2004-04-22 |
WO2004034083A3 WO2004034083A3 (fr) | 2004-06-17 |
Family
ID=32011487
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/FR2003/002937 WO2004034083A2 (fr) | 2002-10-08 | 2003-10-07 | Installation et procede de mesure acoustique par microphone repere dans l'espace |
Country Status (8)
Country | Link |
---|---|
US (1) | US7121142B2 (fr) |
EP (1) | EP1549968A2 (fr) |
JP (1) | JP2006502398A (fr) |
KR (1) | KR20050065571A (fr) |
CN (1) | CN1703629A (fr) |
AU (1) | AU2003300477A1 (fr) |
FR (1) | FR2845510B1 (fr) |
WO (1) | WO2004034083A2 (fr) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2006119764A1 (fr) * | 2005-05-13 | 2006-11-16 | Brüel & Kjær Sound & Vibration Measurement A/S | Determination de la position d'un objet |
Families Citing this family (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7213442B2 (en) * | 2004-10-18 | 2007-05-08 | The Boeing Company | Methods of arranging transducers and transducer arrays having reduced phase ambiguity for determining direction of arrival of received signals |
US7201054B2 (en) * | 2004-10-18 | 2007-04-10 | The Boeing Company | System and method for resolving phase ambiguity of a transducer array to determine direction of arrival of received signals |
KR100650709B1 (ko) * | 2005-11-23 | 2006-11-27 | (주)바코 | 씨-마이크로폰 음향특정 측정 시스템 |
US7854867B2 (en) * | 2006-04-21 | 2010-12-21 | Molecular Imprints, Inc. | Method for detecting a particle in a nanoimprint lithography system |
CN1873406B (zh) * | 2006-06-30 | 2011-02-16 | 王岩松 | 声学材料性能综合测试仪 |
US9366503B2 (en) * | 2008-04-07 | 2016-06-14 | Foster-Miller, Inc. | Gunshot detection stabilized turret robot |
CN101511000B (zh) * | 2009-02-27 | 2011-02-16 | 中山大学 | 一种利用声波定位的智能监控摄像头装置 |
CN101799544A (zh) * | 2010-03-26 | 2010-08-11 | 北京物资学院 | 基于声波的空间定位方法及系统 |
CN102707286A (zh) * | 2011-03-28 | 2012-10-03 | 日电(中国)有限公司 | 三维定位系统、节点、主机、及其操作方法 |
CN106604191A (zh) * | 2016-12-20 | 2017-04-26 | 广州视源电子科技股份有限公司 | 一种扩音方法及扩音系统 |
US11294051B2 (en) | 2017-05-02 | 2022-04-05 | Creative Racing Products, LLC | Ultrasonic measurement device |
CN109375225B (zh) * | 2018-11-09 | 2024-03-26 | 杭州兆华电子股份有限公司 | 一种声学雷达测量系统及其测量方法 |
CN114355292B (zh) * | 2021-12-28 | 2022-09-23 | 华南理工大学 | 一种无线耳机及其麦克风定位方法 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
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DE2704511A1 (de) * | 1977-02-03 | 1978-08-10 | Siemens Ag | Messanordnung zur ortsvermessung ortsvariabler punkte auf einer fahrzeugkarosserie |
EP0158569A1 (fr) * | 1984-01-26 | 1985-10-16 | METRAVIB Société Anonyme: | Procédé et dispositif de recherche et de caractérisation de défauts d'une structure métallique connue immergée |
US4811250A (en) * | 1986-05-02 | 1989-03-07 | Applied Power Inc. | Deviation measurement system |
Family Cites Families (3)
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US5031159A (en) * | 1990-02-21 | 1991-07-09 | Laitram Corporation | Hydroacoustic ranging system |
EP0958505B1 (fr) * | 1997-12-04 | 2004-01-28 | AT&T Laboratories - Cambridge Limited | Systeme de detection pour determiner les informations de position relatives a des objets |
US6501414B2 (en) * | 2001-04-02 | 2002-12-31 | The United States Of America As Represented By The United States National Aeronautics And Space Administration | Method for locating a concealed object |
-
2002
- 2002-10-08 FR FR0212456A patent/FR2845510B1/fr not_active Expired - Fee Related
-
2003
- 2003-10-07 JP JP2004542556A patent/JP2006502398A/ja active Pending
- 2003-10-07 AU AU2003300477A patent/AU2003300477A1/en not_active Abandoned
- 2003-10-07 US US10/502,654 patent/US7121142B2/en not_active Expired - Fee Related
- 2003-10-07 KR KR1020057005663A patent/KR20050065571A/ko not_active Application Discontinuation
- 2003-10-07 CN CNA2003801010941A patent/CN1703629A/zh active Pending
- 2003-10-07 WO PCT/FR2003/002937 patent/WO2004034083A2/fr active Application Filing
- 2003-10-07 EP EP03807871A patent/EP1549968A2/fr not_active Withdrawn
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE2704511A1 (de) * | 1977-02-03 | 1978-08-10 | Siemens Ag | Messanordnung zur ortsvermessung ortsvariabler punkte auf einer fahrzeugkarosserie |
EP0158569A1 (fr) * | 1984-01-26 | 1985-10-16 | METRAVIB Société Anonyme: | Procédé et dispositif de recherche et de caractérisation de défauts d'une structure métallique connue immergée |
US4811250A (en) * | 1986-05-02 | 1989-03-07 | Applied Power Inc. | Deviation measurement system |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2006119764A1 (fr) * | 2005-05-13 | 2006-11-16 | Brüel & Kjær Sound & Vibration Measurement A/S | Determination de la position d'un objet |
Also Published As
Publication number | Publication date |
---|---|
US20050076717A1 (en) | 2005-04-14 |
WO2004034083A3 (fr) | 2004-06-17 |
US7121142B2 (en) | 2006-10-17 |
FR2845510B1 (fr) | 2005-08-05 |
KR20050065571A (ko) | 2005-06-29 |
AU2003300477A8 (en) | 2004-05-04 |
JP2006502398A (ja) | 2006-01-19 |
EP1549968A2 (fr) | 2005-07-06 |
AU2003300477A1 (en) | 2004-05-04 |
FR2845510A1 (fr) | 2004-04-09 |
CN1703629A (zh) | 2005-11-30 |
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