A device and a method for determining an angle of rotation between a camshaft and a crankshaft of an internal combustion engine is provided, the device including a camshaft regulator provided with an electronic regulator, and a device for determining the position of the angle of rotation of the camshaft and the crankshaft. Weighted least squares methods are typically used by TDOA and related location systems including TDOAAOA and TDOAGPS hybrid systems. A layer of commingled reinforcing filaments and plastic material is applied to an outer surface of the thermoplastic liner to form a vessel wall.