CN105393139A - Gps和wlan混合位置确定 - Google Patents
Gps和wlan混合位置确定 Download PDFInfo
- Publication number
- CN105393139A CN105393139A CN201480025813.4A CN201480025813A CN105393139A CN 105393139 A CN105393139 A CN 105393139A CN 201480025813 A CN201480025813 A CN 201480025813A CN 105393139 A CN105393139 A CN 105393139A
- Authority
- CN
- China
- Prior art keywords
- mobile device
- described mobile
- wlan
- satellite
- access point
- 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
- 238000000034 method Methods 0.000 claims abstract description 32
- 230000007613 environmental effect Effects 0.000 claims description 17
- 238000012417 linear regression Methods 0.000 claims description 11
- 230000001133 acceleration Effects 0.000 claims description 9
- 230000001413 cellular effect Effects 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims description 4
- 238000011478 gradient descent method Methods 0.000 claims description 4
- 230000006978 adaptation Effects 0.000 claims 2
- 230000001373 regressive effect Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 21
- 238000004891 communication Methods 0.000 description 9
- 238000013500 data storage Methods 0.000 description 6
- 230000006870 function Effects 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 238000004590 computer program Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 2
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 238000005457 optimization Methods 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000010295 mobile communication Methods 0.000 description 1
- 238000006116 polymerization reaction Methods 0.000 description 1
- 230000002285 radioactive effect Effects 0.000 description 1
- 238000007670 refining Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- 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
-
- 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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
-
- 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
- G01S5/01—Determining conditions which influence positioning, e.g. radio environment, state of motion or energy consumption
- G01S5/012—Identifying whether indoors or outdoors
-
- 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
- G01S5/01—Determining conditions which influence positioning, e.g. radio environment, state of motion or energy consumption
- G01S5/017—Detecting state or type of motion
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Signal Processing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Navigation (AREA)
- Mobile Radio Communication Systems (AREA)
Abstract
Description
Claims (35)
Applications Claiming Priority (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201361821527P | 2013-05-09 | 2013-05-09 | |
US61/821,527 | 2013-05-09 | ||
US201361841613P | 2013-07-01 | 2013-07-01 | |
US61/841,613 | 2013-07-01 | ||
PCT/US2014/034568 WO2014182420A2 (en) | 2013-05-09 | 2014-04-17 | Gps and wlan hybrid position determination |
Publications (2)
Publication Number | Publication Date |
---|---|
CN105393139A true CN105393139A (zh) | 2016-03-09 |
CN105393139B CN105393139B (zh) | 2019-07-09 |
Family
ID=50694083
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201480025813.4A Expired - Fee Related CN105393139B (zh) | 2013-05-09 | 2014-04-17 | Gps和wlan混合位置确定 |
Country Status (3)
Country | Link |
---|---|
US (1) | US9642110B2 (zh) |
CN (1) | CN105393139B (zh) |
WO (1) | WO2014182420A2 (zh) |
Cited By (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106291635A (zh) * | 2016-07-25 | 2017-01-04 | 无锡知谷网络科技有限公司 | 用于室内定位的方法及系统 |
CN107202595A (zh) * | 2016-03-18 | 2017-09-26 | 泰勒斯公司 | 用于估计工作的激光陀螺仪的散射系数的方法以及相关的陀螺仪系统 |
CN108040318A (zh) * | 2017-10-30 | 2018-05-15 | 捷开通讯(深圳)有限公司 | 一种定位方法、电子设备及计算机可读存储介质 |
CN108873039A (zh) * | 2017-05-15 | 2018-11-23 | 北京智汇空间科技有限公司 | 室内外一体化定位接收机及车载终端 |
CN108955677A (zh) * | 2018-08-02 | 2018-12-07 | 苏州中德睿博智能科技有限公司 | 一种基于激光雷达与gps的拓扑地图创建方法及建图装置 |
CN110121150A (zh) * | 2019-05-24 | 2019-08-13 | 上海物联网有限公司 | 一种基于uwb技术的室内跨区域无缝定位系统 |
CN110234068A (zh) * | 2019-05-29 | 2019-09-13 | 维沃移动通信有限公司 | 一种定位方法及终端设备 |
CN110325819A (zh) * | 2017-02-24 | 2019-10-11 | 赫尔环球有限公司 | 用于室内定位的精确高度估计 |
CN113110416A (zh) * | 2016-12-15 | 2021-07-13 | 苏州宝时得电动工具有限公司 | 自移动设备的作业方法、自移动设备、存储器和服务器 |
US11330803B2 (en) | 2018-03-14 | 2022-05-17 | Protect Animals with Satellites, LLC | Corrective collar utilizing geolocation technology |
Families Citing this family (26)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9642110B2 (en) * | 2013-05-09 | 2017-05-02 | Marvell World Trade Ltd. | GPS and WLAN hybrid position determination |
US9641973B2 (en) | 2013-12-12 | 2017-05-02 | Marvell World Trade Ltd. | Method and apparatus for tracking, in real-time, a position of a mobile wireless communication device |
US9591458B2 (en) | 2014-03-12 | 2017-03-07 | Marvell World Trade Ltd. | Method and apparatus for adaptive positioning |
KR102207584B1 (ko) * | 2014-04-03 | 2021-01-26 | 한국전자통신연구원 | 통합 측위 방법 및 장치 |
CN104540103B (zh) * | 2014-12-08 | 2019-01-29 | 康佳集团股份有限公司 | 小型室内定位方法及其系统 |
US9746331B1 (en) * | 2014-12-15 | 2017-08-29 | Marvell International Ltd. | Method and apparatus for map matching |
US10539677B2 (en) * | 2015-06-04 | 2020-01-21 | Huawei Technologies Co., Ltd. | Method for setting positioning mode and mobile terminal |
US10229135B2 (en) * | 2015-06-22 | 2019-03-12 | Apple Inc. | Cellular network information |
US20170078854A1 (en) * | 2015-09-14 | 2017-03-16 | Qualcomm Incorporated | Augmenting indoor-outdoor detection using side information |
US10365377B1 (en) * | 2015-09-28 | 2019-07-30 | Marvell International Ltd. | Apparatus and method for mobility mode state detection |
CN105445776A (zh) * | 2015-12-28 | 2016-03-30 | 天津大学 | 一种室内外无缝定位系统 |
JP6652400B2 (ja) * | 2016-02-15 | 2020-02-19 | 東芝エレクトロニックシステムズ株式会社 | 位置出力装置、及び位置出力方法 |
CN107094319B (zh) * | 2016-02-17 | 2021-06-04 | 王庆文 | 一种高精度室内外融合定位系统和方法 |
CN105959918B (zh) * | 2016-06-23 | 2020-04-24 | 哈尔滨海能达科技有限公司 | 一种数据处理方法以及服务器 |
CN106535130A (zh) * | 2016-11-30 | 2017-03-22 | 北京三快在线科技有限公司 | 移动终端室内外归属的判定方法、装置、设备和存储介质 |
KR102079935B1 (ko) * | 2017-03-13 | 2020-02-21 | 한국전자통신연구원 | 측위 인프라 db 갱신을 위한 사용자 참여형 데이터 선별 장치 및 그 방법 |
US10794986B2 (en) * | 2017-06-02 | 2020-10-06 | Apple Inc. | Extending a radio map |
US10979854B2 (en) | 2017-06-02 | 2021-04-13 | Apple Inc. | Extending a radio map |
US20190373413A1 (en) | 2018-06-01 | 2019-12-05 | Apple Inc. | Feature-based slam with z-axis location |
CN108761514A (zh) * | 2018-08-03 | 2018-11-06 | 北斗国信智能科技(北京)有限公司 | 一种融合北斗或gps和传感器的定位系统及定位方法 |
KR102682553B1 (ko) * | 2018-08-31 | 2024-07-08 | 에스케이플래닛 주식회사 | 라디오맵생성장치 및 그 동작 방법 |
JP7370148B2 (ja) * | 2019-03-19 | 2023-10-27 | アドソル日進株式会社 | 位置特定装置、移動器、位置特定システム、位置特定方法、およびプログラム |
CN110177335B (zh) * | 2019-05-29 | 2021-05-14 | 鹏城实验室 | 一种导航定位方法及系统 |
US11797906B2 (en) | 2019-12-18 | 2023-10-24 | Industrial Technology Research Institute | State estimation and sensor fusion switching methods for autonomous vehicles |
JP2022127977A (ja) * | 2021-02-22 | 2022-09-01 | パナソニックIpマネジメント株式会社 | 測位端末、情報処理装置、および測位方法 |
CN115460535A (zh) * | 2021-05-21 | 2022-12-09 | 华为技术有限公司 | 用于定位的通信方法以及通信装置 |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN1190183A (zh) * | 1997-02-06 | 1998-08-12 | 富士通株式会社 | 位置信息管理系统 |
CN101292563A (zh) * | 2005-08-24 | 2008-10-22 | 高通股份有限公司 | 用于将用户形态分类以高效率地使用手机系统资源的方法和装置 |
WO2009099773A2 (en) * | 2008-02-01 | 2009-08-13 | Walker Jonathan B | Systems and methods for providing location based services (lbs) utilizing wlan and/or gps signals for seamless indoor and outdoor tracking |
US20090291641A1 (en) * | 2008-05-23 | 2009-11-26 | Nec Electronics Corporation | Mobile terminal and indoor/outdoor judgment method |
US20110018732A1 (en) * | 2009-07-27 | 2011-01-27 | Electronics And Telecommunications Research Institute Of Daejeon | Device and method for collecting information related to infrastructure, and positioning method and system using the same |
Family Cites Families (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9182238B2 (en) | 2002-04-24 | 2015-11-10 | Ipventure, Inc. | Method and apparatus for intelligent acquisition of position information |
US7313402B1 (en) * | 2003-06-24 | 2007-12-25 | Verizon Corporate Services Group Inc. | System and method for evaluating accuracy of an automatic location identification system |
US7042391B2 (en) | 2003-12-12 | 2006-05-09 | Xerox Corporation | Mobile device and method for determining location of mobile device |
JP3922585B2 (ja) | 2004-05-13 | 2007-05-30 | セイコーエプソン株式会社 | 測位装置、測位方法、測位プログラム、測位プログラムを記録したコンピュータ読み取り可能な記録媒体 |
US7129842B2 (en) | 2004-11-23 | 2006-10-31 | Honeywell International, Inc. | MEMS sensor unit for security applications |
JP4762033B2 (ja) * | 2006-04-07 | 2011-08-31 | 株式会社エヌ・ティ・ティ・ドコモ | 測定装置及びエリア品質測定方法 |
US8433250B2 (en) * | 2010-01-29 | 2013-04-30 | Ntt Docomo, Inc. | Estimating whether a wireless terminal is indoors using pattern classification |
JP5412361B2 (ja) * | 2010-04-14 | 2014-02-12 | 株式会社Nttドコモ | 移動端末装置、測位方法 |
US20110316880A1 (en) * | 2010-06-29 | 2011-12-29 | Nokia Corporation | Method and apparatus providing for adaptation of an augmentative content for output at a location based on a contextual characteristic |
US8756001B2 (en) * | 2011-02-28 | 2014-06-17 | Trusted Positioning Inc. | Method and apparatus for improved navigation of a moving platform |
US9377308B2 (en) * | 2012-02-02 | 2016-06-28 | MCube Inc. | Indoor map data as a recalibration source for low-cost MEMS inertial navigation |
US9913239B2 (en) * | 2012-03-09 | 2018-03-06 | Qualcomm Incorporated | Method and system for determining location of mobile devices in a femtocell |
US9008694B2 (en) | 2012-06-29 | 2015-04-14 | Broadcom Corporation | Indoor/outdoor differentiation using radio frequency (RF) transmitters |
US10168161B2 (en) * | 2012-10-22 | 2019-01-01 | Qualcomm Incorporated | Changing a position determination scheme used by a user equipment during a transition between indoor and outdoor spaces relative to an enclosed environment |
US9642110B2 (en) * | 2013-05-09 | 2017-05-02 | Marvell World Trade Ltd. | GPS and WLAN hybrid position determination |
US9591458B2 (en) * | 2014-03-12 | 2017-03-07 | Marvell World Trade Ltd. | Method and apparatus for adaptive positioning |
-
2014
- 2014-04-15 US US14/253,467 patent/US9642110B2/en not_active Expired - Fee Related
- 2014-04-17 CN CN201480025813.4A patent/CN105393139B/zh not_active Expired - Fee Related
- 2014-04-17 WO PCT/US2014/034568 patent/WO2014182420A2/en active Application Filing
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN1190183A (zh) * | 1997-02-06 | 1998-08-12 | 富士通株式会社 | 位置信息管理系统 |
CN1112570C (zh) * | 1997-02-06 | 2003-06-25 | 富士通株式会社 | 位置信息管理系统 |
CN101292563A (zh) * | 2005-08-24 | 2008-10-22 | 高通股份有限公司 | 用于将用户形态分类以高效率地使用手机系统资源的方法和装置 |
WO2009099773A2 (en) * | 2008-02-01 | 2009-08-13 | Walker Jonathan B | Systems and methods for providing location based services (lbs) utilizing wlan and/or gps signals for seamless indoor and outdoor tracking |
US20090291641A1 (en) * | 2008-05-23 | 2009-11-26 | Nec Electronics Corporation | Mobile terminal and indoor/outdoor judgment method |
US20110018732A1 (en) * | 2009-07-27 | 2011-01-27 | Electronics And Telecommunications Research Institute Of Daejeon | Device and method for collecting information related to infrastructure, and positioning method and system using the same |
Cited By (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107202595A (zh) * | 2016-03-18 | 2017-09-26 | 泰勒斯公司 | 用于估计工作的激光陀螺仪的散射系数的方法以及相关的陀螺仪系统 |
CN106291635A (zh) * | 2016-07-25 | 2017-01-04 | 无锡知谷网络科技有限公司 | 用于室内定位的方法及系统 |
CN113110416B (zh) * | 2016-12-15 | 2023-11-07 | 苏州宝时得电动工具有限公司 | 自移动设备的作业方法、自移动设备、存储器和服务器 |
CN113110416A (zh) * | 2016-12-15 | 2021-07-13 | 苏州宝时得电动工具有限公司 | 自移动设备的作业方法、自移动设备、存储器和服务器 |
CN110325819A (zh) * | 2017-02-24 | 2019-10-11 | 赫尔环球有限公司 | 用于室内定位的精确高度估计 |
US11248908B2 (en) | 2017-02-24 | 2022-02-15 | Here Global B.V. | Precise altitude estimation for indoor positioning |
CN108873039A (zh) * | 2017-05-15 | 2018-11-23 | 北京智汇空间科技有限公司 | 室内外一体化定位接收机及车载终端 |
CN108040318B (zh) * | 2017-10-30 | 2021-06-15 | 捷开通讯(深圳)有限公司 | 一种定位方法、电子设备及计算机可读存储介质 |
CN108040318A (zh) * | 2017-10-30 | 2018-05-15 | 捷开通讯(深圳)有限公司 | 一种定位方法、电子设备及计算机可读存储介质 |
US11330803B2 (en) | 2018-03-14 | 2022-05-17 | Protect Animals with Satellites, LLC | Corrective collar utilizing geolocation technology |
US12102059B2 (en) | 2018-03-14 | 2024-10-01 | Protect Animals with Satellites, LLC | Corrective collar utilizing geolocation technology |
CN108955677A (zh) * | 2018-08-02 | 2018-12-07 | 苏州中德睿博智能科技有限公司 | 一种基于激光雷达与gps的拓扑地图创建方法及建图装置 |
CN110121150A (zh) * | 2019-05-24 | 2019-08-13 | 上海物联网有限公司 | 一种基于uwb技术的室内跨区域无缝定位系统 |
CN110234068A (zh) * | 2019-05-29 | 2019-09-13 | 维沃移动通信有限公司 | 一种定位方法及终端设备 |
Also Published As
Publication number | Publication date |
---|---|
WO2014182420A2 (en) | 2014-11-13 |
WO2014182420A3 (en) | 2015-04-09 |
US20140335887A1 (en) | 2014-11-13 |
CN105393139B (zh) | 2019-07-09 |
US9642110B2 (en) | 2017-05-02 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN105393139A (zh) | Gps和wlan混合位置确定 | |
CN104010364B (zh) | 用于确定基站的估计的地理位置的方法和系统 | |
Podevijn et al. | TDoA‐based outdoor positioning with tracking algorithm in a public LoRa network | |
US8823585B2 (en) | Sensor-assisted location-aware mobile device | |
CN102265174B (zh) | 使用经调整的往返时间测量的无线位置确定 | |
US9103917B2 (en) | Method and system for determining location within a building based on historical location information | |
CN102753992B (zh) | 基于轨迹的位置确定 | |
US8378891B2 (en) | Method and system for optimizing quality and integrity of location database elements | |
CN104396322A (zh) | 用于确定接入点的位置的方法和设备 | |
US20150346313A1 (en) | Wireless access point location estimation using collocated harvest data | |
CN105052215A (zh) | 移动装置功率管理同时提供位置服务 | |
KR20150130988A (ko) | 로케이션 서비스를 개선하기 위해 3차원 로케이션 정보를 사용하기 위한 시스템 및 방법 | |
CN104303071A (zh) | 供移动设备使用的室内导航辅助数据的适应性更新 | |
JP2014060737A (ja) | ネットワークに基づくポジショニングシステムの位置データベースの管理 | |
US9686766B2 (en) | Location positioning using M2M ecosystem | |
CN103644905A (zh) | 一种情境相关的室内定位方法及系统 | |
CN106605124A (zh) | 移动装置传感器及射频报告技术 | |
US20220357464A1 (en) | Determining position information of mobile devices | |
US20110212732A1 (en) | Method and system for determining a location of a mobile device based on a plurality of location samples | |
Gorovyi et al. | Real-time system for indoor user localization and navigation using bluetooth beacons | |
Skibniewski et al. | Simulation of accuracy performance for wireless sensor‐based construction asset tracking | |
US20160066156A1 (en) | Selection of Location-Determination Information | |
WO2018060545A1 (en) | Positioning | |
CN114729981A (zh) | 增加的定位分辨率 | |
Wei et al. | Indoor localization method comparison: Fingerprinting and Trilateration algorithm |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
C06 | Publication | ||
PB01 | Publication | ||
C41 | Transfer of patent application or patent right or utility model | ||
TA01 | Transfer of patent application right |
Effective date of registration: 20160331 Address after: Babado J San Mega Le Applicant after: MARVELL WORLD TRADE Ltd. Address before: Babado J San Mega Le Applicant before: MARVELL WORLD TRADE Ltd. Applicant before: Zhou Fagen Applicant before: Chen Jian Applicant before: Yu Jing |
|
C10 | Entry into substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant | ||
TR01 | Transfer of patent right |
Effective date of registration: 20200430 Address after: Singapore City Patentee after: Marvell Asia Pte. Ltd. Address before: Ford street, Grand Cayman, Cayman Islands Patentee before: Kaiwei international Co. Effective date of registration: 20200430 Address after: Ford street, Grand Cayman, Cayman Islands Patentee after: Kaiwei international Co. Address before: Hamilton, Bermuda Patentee before: Marvell International Ltd. Effective date of registration: 20200430 Address after: Hamilton, Bermuda Patentee after: Marvell International Ltd. Address before: Babado J San Mega Le Patentee before: MARVELL WORLD TRADE Ltd. |
|
TR01 | Transfer of patent right | ||
CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190709 Termination date: 20210417 |
|
CF01 | Termination of patent right due to non-payment of annual fee |