TW201543929A - System and method for ap-based localization - Google Patents
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本揭露係關於一種基於存取點的定位系統和方法，特別是關於一種可遠端監測之基於存取點的定位系統和方法。 The present disclosure is directed to an access point based positioning system and method, and more particularly to a remotely accessible access point based positioning system and method.
現今市場上應用最為廣泛的室外定位裝置大部分是基於GPS定位技術，且當GPS接收機在室內或受遮蔽的環境工作時，由於信號受遮蔽的影響而衰減，定位精度亦相對降低，要想達到與室外一樣直接從衛星廣播中提取導航數據和時間信息困難度將大為增加。另一方面，無線廣域網路(WAN)亦可做為定位技術，但是仍有信號因遮蔽或室內的環境影響而衰減，以及密集佈建基地台成本過高等等缺點。 Most of the most widely used outdoor positioning devices on the market today are based on GPS positioning technology, and when the GPS receiver works indoors or in a sheltered environment, the signal is attenuated due to the influence of the shielding, and the positioning accuracy is relatively reduced. The difficulty of extracting navigation data and time information directly from satellite broadcasts as much as outdoors will be greatly increased. On the other hand, the wireless wide area network (WAN) can also be used as a positioning technology, but there are still some shortcomings such as the attenuation of the signal due to the shielding or indoor environment, and the high cost of densely laying the base station.
一般在室內或受遮蔽的環境執行定位可採用無線區域網路(WLAN)來執行定位，其最常被作為室內定位的無線區域網路是使用WiFi系統。在傳統的定位方法中，WiFi系統的裝置(Device)端會收集各個存取點(Access point,AP)的訊 號強度，當收集到三個以上的存取點的訊號強度，裝置端便能根據三角定位(Triangulation and Multi-lateration Localization)的演算法來估算出裝置端的所在位置，如第一圖所示。 Positioning is typically performed indoors or in a sheltered environment. Wireless local area networks (WLANs) can be used to perform positioning. The most commonly used wireless local area network for indoor positioning is to use a WiFi system. In the traditional positioning method, the device end of the WiFi system collects information of each access point (AP). The intensity of the number, when collecting the signal strength of more than three access points, the device side can estimate the position of the device end according to the algorithm of Triangulation and Multi-lateration Localization, as shown in the first figure.
在第一圖中，裝置端收集五個存取點AP1、AP2、AP3、AP4和AP5的訊號強度。使用上述三角定位的方法是透過每一個存取點與裝置端之間的距離或角度，利用三角形幾何性質計算出裝置端所在之位置。而測量距離的方式，則可透過存取點以及裝置端觀察到的訊號抵達時間(Time of Arrival)、訊號抵達時間差(Time Difference of Arrival)、訊號入射角度(Angle of Arrival)或訊號衰減模型(Path-loss Model)；而角度則可直接利用訊號輸入的角度或是透過地球磁場量測得知。 In the first figure, the device side collects the signal strengths of the five access points AP1, AP2, AP3, AP4, and AP5. The method of using the above triangulation is to calculate the position of the device end by using the geometrical properties of the triangle through the distance or angle between each access point and the device end. The way to measure the distance is the Time of Arrival, the Time Difference of Arrival, the Angle of Arrival, or the Signal Attenuation Model (observed by the access point and the device side). Path-loss Model); angles can be directly measured using the angle of the signal input or measured by the Earth's magnetic field.
上述使用WiFi系統的傳統定位方法是以裝置端為基礎的定位技術，其定位的方法需要在裝置端進行複雜的訊號演算來測量每一存取點與裝置端之間的距離或角度。再者此種以裝置端為基礎的定位技術只能提供裝置端自己認知定位的位置(配合裝置端建立的地圖資料)，無法提供遠端監測裝置端定位的位置。為改善上述複雜的訊號偵測與演算的缺點，以及針對遠端可以監測特定裝置端定位的位置的需求，本發明提出一種基於存取點的技術，可快速執行定位以及適合遠端監測。 The above conventional positioning method using the WiFi system is a device-based positioning technology, and the positioning method requires complex signal calculation on the device side to measure the distance or angle between each access point and the device end. Moreover, the device-based positioning technology can only provide the location of the device's own cognitive positioning (cooperating with the map data established by the device end), and cannot provide the location of the remote monitoring device end positioning. In order to improve the shortcomings of the above complex signal detection and calculation, and the need for the remote location to monitor the location of a particular device end, the present invention proposes an access point based technology that can perform positioning quickly and is suitable for remote monitoring.
本揭露實施例可提供關於一種基於存取點的定位系統和方法。 The disclosed embodiments may provide an access point based positioning system and method.
所揭露的一實施例是關於一種基於存取點的定位系統包含：一行動裝置，至少三存取點和一定位伺服器。其中行動裝置定期地將探測請求傳送到至少三存取點的每一存取點。至少三存取點每一存取點依據探測請求計算出訊號強度，並且將訊號強度傳送到定位伺服器。定位伺服器依據訊號強度計算出行動裝置的位置，並且將計算出的位置傳送到行動裝置。 One disclosed embodiment relates to an access point based positioning system comprising: a mobile device, at least three access points and a positioning server. The mobile device periodically transmits the probe request to each access point of at least three access points. At least three access points Each access point calculates the signal strength according to the probe request and transmits the signal strength to the positioning server. The positioning server calculates the position of the mobile device based on the signal strength and transmits the calculated position to the mobile device.
所揭露的另一實施例是關於一基於存取點的定位方法包括：使用一行動裝置定期地將探測請求傳送到一至少三存取點的每一存取點。至少三存取點的每一存取點依據探測請求計算出訊號強度，並且將訊號強度傳送到一定位伺服器。定位伺服器依據訊號強度計算出行動裝置的位置，並且將計算出的位置傳送到行動裝置。 Another embodiment disclosed is directed to an access point based positioning method comprising periodically transmitting a probe request to each access point of an at least three access points using a mobile device. Each access point of at least three access points calculates the signal strength according to the probe request, and transmits the signal strength to a positioning server. The positioning server calculates the position of the mobile device based on the signal strength and transmits the calculated position to the mobile device.
茲配合下列圖示、實施例之詳細說明及申請專利範圍，將上述及本揭露之其他優點詳述於後。 The above and other advantages of the present disclosure will be described in detail below with reference to the following drawings, detailed description of the embodiments, and claims.
20‧‧‧基於存取點的定位系統 20‧‧‧Access point based positioning system
21‧‧‧行動裝置 21‧‧‧Mobile devices
22‧‧‧至少三存取點 22‧‧‧At least three access points
23‧‧‧定位伺服器 23‧‧‧Location server
211、212、213、214、215‧‧‧探測請求 211, 212, 213, 214, 215‧ ‧ probe requests
221、222、223、224、225‧‧‧訊號強度 221, 222, 223, 224, 225‧‧‧ signal strength
41‧‧‧使用一行動裝置定期地將探測請求傳送到一至少三存取點的每一存取點 41‧‧‧Using a mobile device to periodically transmit probe requests to each access point of at least three access points
42‧‧‧至少三存取點的每一存取點依據探測請求計算出訊號強度，並且將訊號強度傳送到一定位伺服器 42‧‧‧ Each access point of at least three access points calculates the signal strength according to the probe request, and transmits the signal strength to a positioning server
43‧‧‧定位伺服器依據訊號強度計算出行動裝置的位置，並且將計算出的位置傳送到行動裝置 43‧‧‧ The positioning server calculates the position of the mobile device based on the signal strength and transmits the calculated position to the mobile device
第一圖說明一種以裝置端為基礎的定位技術。 The first figure illustrates a device-based positioning technique.
第二圖是與所揭露的一實施範例一致的一示意圖，說明 一種基於存取點的定位系統。 The second figure is a schematic diagram consistent with an embodiment of the disclosure, illustrating An access point based positioning system.
第三圖是與所揭露的一實施範例一致的一示意圖，說明樣本比對定位法。 The third figure is a schematic diagram consistent with an embodiment of the disclosure, illustrating a sample alignment method.
第四圖是與所揭露的一實施範例一致的一示意圖，說明一種基於存取點的定位方法。 The fourth figure is a schematic diagram consistent with an embodiment of the disclosure, illustrating an access point based positioning method.
本發明係關於一種基於存取點的定位系統和方法，特別是關於一種可遠端監測之基於存取點的定位系統和方法。 The present invention relates to an access point based positioning system and method, and more particularly to a remotely accessible access point based positioning system and method.
所揭露的一實施例是關於一基於存取點的定位系統。第二圖是與所揭露的一實施範例一致的一示意圖，說明一種基於存取點的定位系統。一種基於存取點的定位系統20包含：一行動裝置21，至少三存取點22和一定位伺服器23。其中行動裝置21定期地將探測請求傳送到至少三存取點22的每一存取點。至少三存取點22每一存取點依據探測請求計算出訊號強度，並且將訊號強度傳送到定位伺服器23。定位伺服器23依據訊號強度計算出行動裝置21的位置，並且將計算出的位置傳送到行動裝置21。參考第二圖，行動裝置21定期地將探測請求211、212、213、214、215傳送到至少三存取點22的每一存取點(AP1、AP2、AP3、AP4和AP5)。每一存取點依據探測請求計算出訊號強度，並且將訊號強度傳送到定位伺服器23。例如存取點AP2將接收的探測請求212計算出訊號強度，並且將此訊號強度 傳送到定位伺服器23。最後定位伺服器23依據訊號強度計算出行動裝置21的位置，並且將計算出的位置傳送到行動裝置21。 One disclosed embodiment relates to an access point based positioning system. The second figure is a schematic diagram consistent with an embodiment of the disclosure, illustrating an access point based positioning system. An access point based positioning system 20 includes a mobile device 21, at least three access points 22 and a positioning server 23. The mobile device 21 periodically transmits the probe request to each of the access points of the at least three access points 22. At least three access points 22 each of the access points calculate the signal strength according to the probe request, and transmit the signal strength to the location server 23. The positioning server 23 calculates the position of the mobile device 21 based on the signal strength, and transmits the calculated position to the mobile device 21. Referring to the second figure, the mobile device 21 periodically transmits the probe requests 211, 212, 213, 214, 215 to each of the access points (AP1, AP2, AP3, AP4, and AP5) of the at least three access points 22. Each access point calculates the signal strength based on the probe request and transmits the signal strength to the location server 23. For example, the access point AP2 calculates the signal strength from the received probe request 212, and the signal strength is Transfer to the positioning server 23. Finally, the positioning server 23 calculates the position of the mobile device 21 based on the signal strength, and transmits the calculated position to the mobile device 21.
在第二圖中，行動裝置21例如是使用WiFi的通信協定將探測請求211、212、213、214、215傳送到至少三存取點22的每一存取點。其中行動裝置21將探測請求211在行動裝置21與存取點AP1的通信通道上傳送到存取點AP1，行動裝置21將探測請求212在行動裝置21與存取點AP2的通信通道上傳送到存取點AP2，行動裝置21將探測請求213在行動裝置21與存取點AP3的通信通道上傳送到存取點AP3，行動裝置21將探測請求214在行動裝置21與存取點AP4的通信通道上傳送到存取點AP4，以及行動裝置21將探測請求213在行動裝置21與存取點AP5的通信通道上傳送到存取點AP5。 In the second figure, the mobile device 21 transmits the probe requests 211, 212, 213, 214, 215 to each access point of at least three access points 22, for example, using a WiFi communication protocol. The mobile device 21 uploads the probe request 211 to the access point AP1 in the communication channel of the mobile device 21 and the access point AP1, and the mobile device 21 uploads the probe request 212 to the communication channel of the mobile device 21 and the access point AP2. The access point AP2, the mobile device 21 uploads the probe request 213 to the access point AP3 at the communication channel of the mobile device 21 and the access point AP3, and the mobile device 21 communicates the probe request 214 with the access device AP4 at the mobile device 21. The channel is uploaded to the access point AP4, and the mobile device 21 uploads the probe request 213 to the access point AP5 at the communication channel of the mobile device 21 and the access point AP5.
承上述，行動裝置21將探測請求211、212、213、214、215傳送到存取點AP1、AP2、AP3、AP4、AP5後，每一存取點依據接收的探測請求計算出訊號強度，並且將訊號強度221、222、223、224、225傳送到定位伺服器23。例如存取點AP1將計算出的訊號強度221傳送到定位伺服器23，存取點AP2將計算出的訊號強度222傳送到定位伺服器23，存取點AP3將計算出的訊號強度223傳送到定位伺服器23，存取點AP4將計算出的訊號強度224傳送到定位伺服器23，以及存取點AP5將計算出的訊號強度225傳送 到定位伺服器23。 In the above, after the mobile device 21 transmits the probe requests 211, 212, 213, 214, 215 to the access points AP1, AP2, AP3, AP4, and AP5, each access point calculates the signal strength according to the received probe request, and The signal strengths 221, 222, 223, 224, 225 are transmitted to the positioning server 23. For example, the access point AP1 transmits the calculated signal strength 221 to the location server 23, and the access point AP2 transmits the calculated signal strength 222 to the location server 23, and the access point AP3 transmits the calculated signal strength 223 to The location server 23 transmits the calculated signal strength 224 to the location server 23, and the access point AP5 transmits the calculated signal strength 225. Go to the positioning server 23.
根據一實施範例，在第二圖中的基於存取點的定位系統中，每一存取點計算出訊號強度後，還可將行動裝置21的辨識碼(ID)和存取點自身的辨識碼(ID)傳送到定位伺服器23，即存取點將行動裝置21的辨識碼(ID)、存取點自身的辨識碼(ID)以及訊號強度一起傳送到定位伺服器23。 According to an embodiment, in the access point-based positioning system in the second figure, after the signal strength is calculated for each access point, the identification code (ID) of the mobile device 21 and the identification of the access point itself may also be recognized. The code (ID) is transmitted to the location server 23, that is, the access point transmits the identification code (ID) of the mobile device 21, the identification code (ID) of the access point itself, and the signal strength to the location server 23.
承上述，接著在第二圖中定位伺服器23依據接收的訊號強度計算出行動裝置21的位置，並且將計算出的位置傳送到行動裝置21。其中定位伺服器23計算行動裝置21位置的方法例如可使用樣本比對定位法(Pattern-Matching Localization)。此樣本比對定位法是依據接收的訊號強度與已建立的多個樣本比對，其中多個樣本的每一樣本對應到一相對應的位置。而比對的方式是以尋找最相近的樣本成為比對的結果。因而與定位伺服器23接收的訊號強度最相近的樣本所對應到的位置即為定位伺服器23計算出的行動裝置21位置。 In the above, then in the second figure, the positioning server 23 calculates the position of the mobile device 21 based on the received signal strength, and transmits the calculated position to the mobile device 21. The method in which the positioning server 23 calculates the position of the mobile device 21 can be, for example, a Pattern-Matching Localization. The sample alignment method is based on the received signal strength and the established plurality of samples, wherein each sample of the plurality of samples corresponds to a corresponding position. The way to compare is to find the closest sample to be the result of the comparison. Therefore, the position corresponding to the sample closest to the signal strength received by the positioning server 23 is the position of the mobile device 21 calculated by the positioning server 23.
上述樣本比對定位法如第三圖所示，假設在一定位空間中有n個存取點，例如AP1、AP2、AP3、AP4、…、APn，以及m個給定的位置，例如L1、L2、L3、…、Lm。並且在每一個位置Li上鄰近的存取點可收集到位於位置Li上的行動裝置的平均訊號強度，可稱之為特徵向量(feature vector)Vi=[Vi,1,Vi,2,Vi,3,…,Vi,n]。 The above sample alignment method is as shown in the third figure, assuming that there are n access points in a positioning space, such as AP1, AP2, AP3, AP4, ..., APn, and m given positions, such as L1. L2, L3, ..., Lm. And the neighboring access points in each position Li can collect the average signal strength of the mobile device located at the location Li, which can be called a feature vector Vi=[Vi,1,Vi,2,Vi, 3,...,Vi,n].
如上述，樣本比對定位法可依據接收的訊號強度與已建立的多個樣本比對，其中每一樣本對應到一相對應的位置。上述之特徵向量(feature vector)Vi=[Vi,1,Vi,2,Vi,3,…,Vi,n]即為所述之對應於位置Li的樣本。 As described above, the sample alignment method can compare with the established plurality of samples according to the received signal strength, wherein each sample corresponds to a corresponding position. The above feature vector Vi = [Vi, 1, Vi, 2, Vi, 3, ..., Vi, n] is the sample corresponding to the position Li.
再者比對的方式是以尋找最相近的樣本成為比對的結果。首先假定行動裝置目前在某一位置(目前尚未知道)，此時定位伺服器23經由鄰近的存取點接收的訊號強度之特徵向量為S=[S1,S2,S3,…,Sn]。比對的方式是計算訊號強度S與Vi的差異，即歐幾里得距離H(Li)來判斷相似程度以尋找最相近的樣本，其中歐幾里得距離H(Li)的計算如下：H(Li)=∥ S,Vi ∥=[(S1-Vi,1)2+(S2-Vi,2)2+…+(Sn-Vi,n)2]1/2 The way to compare is to find the closest sample to be the result of the comparison. First, it is assumed that the mobile device is currently at a certain location (not yet known), and the feature vector of the signal strength received by the positioning server 23 via the adjacent access point is S=[S1, S2, S3, ..., Sn]. The way to compare is to calculate the difference between the signal intensity S and Vi, that is, the Euclidean distance H(Li) to determine the similarity to find the closest sample. The Euclidean distance H(Li) is calculated as follows: H (Li)=∥ S, Vi ∥=[(S1-Vi,1) 2 +(S2-Vi,2) 2 +...+(Sn-Vi,n) 2 ] 1/2
上述計算出的H(Li)值最小者所對應的特徵向量Vi即是最相近的樣本。因此計算出的H(Li)值最小者所對應的位置Li即為定位伺服器23計算出的行動裝置21的位置。 The feature vector Vi corresponding to the minimum calculated H(Li) value described above is the closest sample. Therefore, the position Li corresponding to the calculated minimum value of H(Li) is the position of the mobile device 21 calculated by the positioning server 23.
根據一實施範例，在第二圖中的基於存取點的定位系統中，定位伺服器23還可包含一資料庫以儲存位置Li上的行動裝置所收集鄰近的n個存取點的平均訊號強度Vi=[Vi,1,Vi,2,Vi,3,…,Vi,n]。在定位系統執行定位前，此訊號強度Vi的資料需先建立在定位伺服器23的資料庫中，定位伺 服器可以樣本比對定位法執行行動裝置的定位。 According to an embodiment, in the access point based positioning system in the second figure, the positioning server 23 may further comprise a database for storing the average signal of the n access points collected by the mobile device at the location Li. Intensity Vi = [Vi, 1, Vi, 2, Vi, 3, ..., Vi, n]. Before the positioning system performs positioning, the data of the signal strength Vi needs to be first established in the database of the positioning server 23, and the positioning servo The server can perform the positioning of the mobile device by the sample alignment method.
根據一實施範例，在第二圖中的基於存取點的定位系統還可包含一遠端監測器，來與定位伺服器通信以監測行動裝置21。在一實施範例中，定位伺服器23還包含一時間記錄器以記錄定位伺服器23接收到各個存取點的訊號強度的時間，此時間即為行動裝置21位於計算出的行動裝置21位置的時間。遠端監測器可經由定位伺服器通信得到此時間的資訊，來監測行動裝置21。 According to an embodiment, the access point based positioning system in the second figure may further include a remote monitor to communicate with the positioning server to monitor the mobile device 21. In an embodiment, the location server 23 further includes a time recorder to record the time at which the location server 23 receives the signal strength of each access point, which is the location of the mobile device 21 at the location of the calculated mobile device 21. time. The remote monitor can communicate with the location device to obtain information about the time to monitor the mobile device 21.
所揭露的另一實施例是關於一基於存取點的定位方法。第四圖是與所揭露的一實施範例一致的一示意圖，說明一種基於存取點的定位方法。此方法包括：使用一行動裝置定期地將探測請求傳送到一至少三存取點的每一存取點(步驟41)。至少三存取點的每一存取點依據探測請求計算出訊號強度，並且將訊號強度傳送到一定位伺服器(步驟42)。定位伺服器依據訊號強度計算出行動裝置的位置，並且將計算出的位置傳送到行動裝置(步驟43)。 Another embodiment disclosed is directed to an access point based positioning method. The fourth figure is a schematic diagram consistent with an embodiment of the disclosure, illustrating an access point based positioning method. The method includes periodically transmitting a probe request to each access point of at least three access points using a mobile device (step 41). Each access point of at least three access points calculates the signal strength based on the probe request and transmits the signal strength to a location server (step 42). The positioning server calculates the position of the mobile device based on the signal strength and transmits the calculated position to the mobile device (step 43).
在第四圖中的步驟41中，行動裝置使用WiFi的通信協定將探測請求傳送到至少三存取點的每一存取點。 In step 41 of the fourth figure, the mobile device transmits the probe request to each access point of at least three access points using a WiFi communication protocol.
在第四圖中的步驟42中，每一存取點計算出訊號強度後，還可將行動裝置的辨識碼(ID)和存取點自身的辨識碼(ID)傳送到定位伺服器，即存取點將行動裝置21的辨識碼 (ID)、存取點自身的辨識碼(ID)以及訊號強度一起傳送到定位伺服器。 In step 42 of the fourth figure, after the signal strength is calculated for each access point, the identification code (ID) of the mobile device and the identification code (ID) of the access point itself may be transmitted to the positioning server, that is, The access point will identify the identification of the mobile device 21. The (ID), the access point's own identification code (ID), and the signal strength are transmitted to the location server.
在第四圖中的步驟43中，定位伺服器計算行動裝置位置的方法例如可使用樣本比對定位法(Pattern-Matching Localization)。此樣本比對定位法是依據接收的訊號強度與已建立的多個樣本比對，其中多個樣本的每一樣本對應到一相對應的位置。而比對的方式是以尋找最相近的樣本成為比對的結果。因而與定位伺服器接收的訊號強度最相近的樣本所對應到的位置即為定位伺服器計算出的行動裝置的位置。 In step 43 of the fourth figure, the method by which the positioning server calculates the position of the mobile device can use, for example, Pattern-Matching Localization. The sample alignment method is based on the received signal strength and the established plurality of samples, wherein each sample of the plurality of samples corresponds to a corresponding position. The way to compare is to find the closest sample to be the result of the comparison. Therefore, the position corresponding to the sample closest to the signal strength received by the positioning server is the position of the mobile device calculated by the positioning server.
根據一實施範例，在第四圖中的基於存取點的定位方法還包含使用一資料庫以儲存多個樣本的每一樣本以及每一樣本相對應的位置。 According to an embodiment, the access point based positioning method in the fourth figure further comprises using a database to store each sample of the plurality of samples and a corresponding location of each sample.
根據一實施範例，第四圖中的基於存取點的定位方法還包含使用一遠端監測器，來與定位伺服器通信以監測行動裝置。在一實施範例中，第四圖中的基於存取點的定位方法還包含記錄定位伺服器接收到各個存取點的訊號強度的時間，並且遠端監測器可經由定位伺服器通信得到此時間的資訊來監測行動裝置。 According to an embodiment, the access point based positioning method of the fourth figure further comprises using a remote monitor to communicate with the positioning server to monitor the mobile device. In an embodiment, the access point-based positioning method in the fourth figure further includes recording a time when the positioning server receives the signal strength of each access point, and the remote monitor can obtain the time via the positioning server communication. Information to monitor mobile devices.
以上所述者皆僅為本揭露實施例，不能依此限定本揭露實施之範圍。大凡本發明申請專利範圍所作之均等變化 與修飾，皆應屬於本發明專利涵蓋之範圍。 The above is only the embodiment of the disclosure, and the scope of the disclosure is not limited thereto. Equal changes in the scope of patent application of the present invention And modifications are intended to fall within the scope of the invention.
20‧‧‧基於存取點的定位系統 20‧‧‧Access point based positioning system
21‧‧‧行動裝置 21‧‧‧Mobile devices
22‧‧‧至少三存取點 22‧‧‧At least three access points
23‧‧‧定位伺服器 23‧‧‧Location server
211、212、213、214、215‧‧‧探測請求 211, 212, 213, 214, 215‧ ‧ probe requests
221、222、223、224、225‧‧‧訊號強度 221, 222, 223, 224, 225‧‧‧ signal strength
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10397894B2 (en) | 2017-09-07 | 2019-08-27 | Cybertan Technology, Inc. | Autonomous positioning systems |
| TWI675215B (en) * | 2018-08-16 | 2019-10-21 | 恆準定位股份有限公司 | Indoor positioning system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10397894B2 (en) | 2017-09-07 | 2019-08-27 | Cybertan Technology, Inc. | Autonomous positioning systems |
| TWI692267B (en) * | 2017-09-07 | 2020-04-21 | 建漢科技股份有限公司 | Autonomous positioning within a mesh network |
| TWI675215B (en) * | 2018-08-16 | 2019-10-21 | 恆準定位股份有限公司 | Indoor positioning system |
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