WO2015012767A1 - Procédé et dispositif de positionnement pour la localisation d'un dispositif de communication mobile - Google Patents

Procédé et dispositif de positionnement pour la localisation d'un dispositif de communication mobile Download PDF

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Publication number
WO2015012767A1
WO2015012767A1 PCT/SG2014/000353 SG2014000353W WO2015012767A1 WO 2015012767 A1 WO2015012767 A1 WO 2015012767A1 SG 2014000353 W SG2014000353 W SG 2014000353W WO 2015012767 A1 WO2015012767 A1 WO 2015012767A1
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WO
WIPO (PCT)
Prior art keywords
message
communication device
mobile communication
access point
access points
Prior art date
Application number
PCT/SG2014/000353
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English (en)
Inventor
Jaya SHANKAR S/O PATHMASUNTHARAM
Pankaj Sharma
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Agency For Science, Technology And Research
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.)
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Publication date
Application filed by Agency For Science, Technology And Research filed Critical Agency For Science, Technology And Research
Priority to SG11201600599QA priority Critical patent/SG11201600599QA/en
Priority to CN201480052593.4A priority patent/CN105580461B/zh
Publication of WO2015012767A1 publication Critical patent/WO2015012767A1/fr

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Classifications

    • 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
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L1/00—Arrangements for detecting or preventing errors in the information received
    • H04L1/12—Arrangements for detecting or preventing errors in the information received by using return channel
    • H04L1/16—Arrangements for detecting or preventing errors in the information received by using return channel in which the return channel carries supervisory signals, e.g. repetition request signals
    • H04L1/1607—Details of the supervisory signal

Definitions

  • a method for localization of a mobile communication device including transmitting a data message from the mobile communication device to a first access point, receiving the data message at the first access point and at second access points; determining the reception times of the data message at the first access point and at the second access points, transmitting an acknowledgement message for the data message from the first access point to the mobile communication device, receiving the
  • a positioning device according to the method described above is provided.
  • Figure 1 shows a flow diagram illustrating a method for localization of a mobile communication device.
  • Figure 2. shows a positioning device for localization of a mobile communication device.
  • Figure 3 shows a message flow diagram illustrating a 4- way handshake process according to IEEE 802.11
  • Figure 4 shows a signal diagram
  • Figure 5 shows a communication arrangement according to an embodiment.
  • Figure 6 shows the architecture of an access point
  • Figure 7 shows the 4-way handshake message exchange used for triangulation according to one embodiment in the communication arrangement of figure 5.
  • Figure 8 shows a message flow diagram illustrating a 4- way handshake message exchange used for a localization process according to one embodiment.
  • Figure 9 shows a message flow diagram illustrating
  • Figure 10 shows a message flow diagram illustrating
  • Figure 11 shows a message flow diagram illustrating the triggering of an analog-to-digital circuit for time measuring.
  • the location of a mobile device can be derived from radio frequency, photonic, sound waves, mechanical, video analysis and magnetic field systems.
  • Such systems may use different localization techniques to derive the location including methods such as triangulation (lateration,
  • Indoor localization may for example be based on a WiFi system.
  • WiFi is typically not selected based on its superiority but more on the popularity of the WiFi technology.
  • a UWB localization scheme may allow a higher accuracy but it is not easily applicable since the corresponding infrastructure has not yet been provided and UWB is usually not yet adopted at end user devices.
  • Bluetooth or cellular network are not as popular as WiFi.
  • a localization system based on a cellular network typically does not allow a sufficient accuracy in an indoor
  • GPS Global positioning system
  • the Global positioning system is the most widely used satellite-based positioning system which offers maximum coverage. GPS capability can be added to various devices by adding GPS cards and accessories in these devices, which enable location-based services.
  • GPS cannot be deployed for indoor use, because line-of-sight transmission between receivers and satellites is not possible in an indoor environment .
  • Time synchronization Techniques that depend on time of arrival may need complex synchronization schemes. This introduces more infrastructure devices that require proper planning for placement of nodes.
  • Cost This includes the cost of the infrastructure
  • Performance Different techniques offer different accuracy and precision. Accuracy is for example defined as the average error distance, and precision is for example defined as the success probability of position estimations with respect to a predefined accuracy. Delay is another performance aspect which includes the delay of measuring, calculating positions of estimated target and forwarding the results to the component requesting the localization.
  • embodiments are described which allow providing an accurate (2 meters or better) localization scheme for indoor tracking, e.g. based on iFi.
  • the scheme may for example work with existing mobile devices that are equipped with WiFi transceivers. There are many WiFi devices today and the cost of WiFi chipset is low because of mass production of these devices.. Due to the popularity of WiFi, it is easier to capitalize on the WiFi radio communication rather than to introduce a location device based on an additional technology that can be specifically used for indoor localization.
  • a technique is used that introduces some infrastructure nodes which could operate with a handset (e.g. a mobile phone) without requiring any changes to the software and hardware on the handset.
  • Figure 1 shows a flow diagram 100 illustrating a method for localization of a mobile communication device.
  • the mobile communication device transmits a data message to a first access point.
  • the first access point and second access . points receive the data message.
  • the reception times of the data message at the first access point and at the second access points are determined.
  • the first access point transmits an acknowledgement message for the data message to the mobile communication device .
  • the second access points receive the acknowledgement message.
  • the reception times of the acknowledgement message at the second access points are determined.
  • the communication device is determined based on the determined reception times of the data message and the determined reception times of the acknowledgement message.
  • the handshake process may include further messages. For example, it may be a 4-way handshake process as used for data transmission, e.g. according to- IEEE 802.11.
  • a data message may be understood as a message
  • useful data e.g. data including content transmitted by the user of the mobile communication device such as speech, video, image or text data from the user.
  • Localization of a device may be understood as determining the geographical position of the device, e.g. in terms of
  • Determining the position of the mobile communication device may for example include compensating timer offsets between the first access point and the second access points in the determined reception times of the data message based on the determined reception times of the acknowledgement message.
  • the method may further include the first access point determining a sending time of the acknowledgement message and compensating timer offsets based on the
  • determining the position of the mobile communication device includes determining the position of the mobile communication device by a triangulation based on the determined reception times of the data message.
  • the first access point and the second access points are for example access points of a wireless local area network.
  • the method may further include assigning the same data link layer address (e.g. MAC address) to the first access point and the second access points and addressing the data message to the address.
  • the same data link layer address e.g. MAC address
  • the method may further include suppressing acknowledgement messages generated by the second access points in response to the data message.
  • acknowledgement message are part of a handshake process for data transmission from the mobile communication device to the first access point.
  • the handshake process is for example a 2-way handshake process or a 4-way handshake process.
  • the method may for example be a 4-way handshake process and include, as part of the 4-way handshake process, sending a request to send message from the mobile communication device to the first access point and sending a clear to send message from the first access point to the mobile communication device .
  • the method may further include assigning the same data link layer address to the first access point and the second access points and addressing the request to send message to the address and further comprising suppressing clear to send messages generated by the second access points in response to the request to send message.
  • the handshake process is for example a 4-way handshake process according to IEEE 802.11.
  • the mobile communication device is for example a mobile terminal, e.g. a mobile phone, for example supporting IEEE 802.11.
  • the access points are access points operating according to a wireless local area network standard such as IEEE 802.11, e.g. WiFi access points
  • the client device is a client device according to the wireless local area network standard
  • wireless local area network standard e.g. a WiFi client device .
  • the second access points include for example two or more access points.
  • FIG 1 The method illustrated in figure 1 is for example performed by a positioning device as illustrated in figure 2.
  • Figure 2 shows a positioning device 200 for localization of a mobile communication device.
  • the positioning device 200 includes a determiner 201
  • the positioning device 200 further includes a processor 202 configured to determine the position of the mobile
  • the positioning device may for example be one of the first access point and the second access points and the mobile communication device. Accordingly, the determiner may
  • the components of the positioning device may for example be implemented by one or more circuits.
  • a "circuit” may be understood as any kind of a logic implementing entity, which may be special purpose circuitry or a processor executing software stored in a memory, firmware, or any combination thereof.
  • circuit may be a hard-wired logic circuit or a programmable logic circuit such as a programmable processor, e.g. a microprocessor.
  • a “circuit” may also be a processor executing software, e.g. any kind of computer program. Any other kind of implementation of the respective functions which will be described in more detail below may also be understood as a “circuit”. It should be noted that embodiments described in context with the method illustrated in figure 1 are analogously valid for the . positioning device 200 and vice versa. In the following, embodiments are described in more detail.
  • data frames are sent using either 2-way handshake or a 4-way handshake process.
  • the 4-way handshake is illustrated in figure 3.
  • Figure 3 shows a message flow diagram 300.
  • the message flow illustrates a data transmission from a first device, in this example an access point (AP) 301, to a second device, in this example a mobile terminal 302, which operate according to IEEE 802.11, e.g. WiFi devices.
  • AP access point
  • mobile terminal 302 which operate according to IEEE 802.11, e.g. WiFi devices.
  • Each message (or frame) transmitted is subjected to a
  • the inter-frame times are normally set to a fixed value which is known as SIFS 305 in IEEE 802.11.
  • the device transmitting data in this example AP 301, transmits an RTS (Request to Send) message 306.
  • RTS Request to Send
  • the device receiving the data in this example mobile
  • the terminal 302 responds with a CTS (Clear to Send) message 307.
  • the AP 301 transmits data 308 which arrives at the mobile terminal 302 (like also the other messages) with a propagation delay 309.
  • the propagation delay 309 of a data message 308 is used for localization as will be
  • the mobile terminal 302 acknowledges the data reception with an acknowledgement 310.
  • the TIR signal or TX pin on the WiFi interface hardware of a communication device is used.
  • the TIR signal indicates the state of the WiFi baseband circuit, namely whether it is going to transmit or receive a frame over the air interface.
  • the signal is normally
  • the TIR signal is used to activate the RF transmission circuitry.
  • the TIR signal is pulled low when the frame is ready to be sent out as it is illustrated in figure 4.
  • Figure 4 shows a signal diagram 400.
  • the TIR is low during the frame transmission.
  • the TIR signal and many other pins/leads on a iFi Interface card of a WiFi device are normally clock synchronized e.g. to the * Medium Access Control (MAC) clock of the device.
  • the period in which the TIR signal goes down during the transmission typically correlates with an internal counter in the WiFi chipset of the device.
  • the SIFS interval as shown in Figure 3 above is also subjected to another internal counter and the SIFS interval is consistent (i.e. constant) .
  • a localization approach for locating a mobile device e.g. a mobile handset
  • WiFi interface uses a localization system
  • Figure 5 shows a communication arrangement 500.
  • a mobile device 501 which has a WiFi' interface is localized by a set of WiFi Localization APs (LAPs) 502 and one or more Master Localization APs (MAP) 503.
  • LAPs WiFi Localization APs
  • MAP Master Localization APs
  • the operation of the MAP 503 and LAPs 502 can be
  • a localization approach is used that is based on time difference of arrival, which depends on a time
  • the LAPs 502 and the MAP 503 have for example an architecture as illustrated in the hardware block diagram of figure 6.
  • Figure 6 shows the architecture of an access point 600 according to an embodiment.
  • the access point 600 includes a WiFi device 601, e.g. in form of a WiFi card including a WIFI baseband chipset, providing WiFi communication via a first antenna 602.
  • a WiFi device 601 e.g. in form of a WiFi card including a WIFI baseband chipset, providing WiFi communication via a first antenna 602.
  • the access point 600 further includes a micro controller 603 (or processor, e.g. in form of a CPU) to interface with the WiFi device 601 and to control the WiFi device 601.
  • the micro controller 603 interfaces with an ADC (analog-to-digital conversion) and FPGA block 604.
  • the ADC and FPGA block 604 interfaces with a RF front end 605 (e.g. implementing a 2 Stage LNA) to receive an incoming RF carrier signal related to WiFi (i.e. according to the IEEE 802.11 standard) via a second antenna 606.
  • the ADC and FPGA block 604 could also tap the RF carrier signal from the WiFi device 601 instead of using a separate input block (i.e. the RF front end 605) and a separate antenna.
  • a single antenna can be shared between the WiFi device 601 and the RF front end 605.
  • the WiFi device 601 (in other words the WiFi interface) is used for transmission and reception of messages according to IEEE 802.11 (also referred to as WiFi messages).
  • the RF front end 605 is used for reception of WiFi messages and is used to process the time of arrival (TOA) of the RF carrier signal used for the transmission of the WiFi messages.
  • TOA time of arrival
  • the FPGA block 604 is used for the purpose of finding the time of arrival of the RF carrier signal, i.e. the time of arrival of the WiFi messages.
  • the RF front end 605 is also used to achieve proper gain control of the incoming RF carrier signal.
  • the ADC and FPGA block 604 interfaces with the WiFi device 601 to tap some signals such as the TIR Pin (TX signal), control the power amplifier, derive the message (or frame) type, etc.
  • the micro-controller 603 interfaces with the ADC and FPGA block 604 to control the localization operation and also receive the sampled TOA signal information.
  • a time difference of arrival procedure is used that makes use of the 4-way handshake protocol as explained with reference to figure 3.
  • Figure 7 shows the 4-way handshake message exchange used for triangulation according to one embodiment in the
  • the message (or frame) exchange is carried out between a mobile terminal 701, LAPs 702 and a MAP 703 corresponding to the mobile terminal 501, the LAP 502 and the MAP 503 of the communication arrangement 500.
  • At least one MAP 703 helps to provide triangulation for the mobile terminal 701 (or mobile station (MS)) .
  • the MAP 703 plays the role of the Master Localization AP.
  • other APs 702 can also take turns to act as MAP.
  • the embodiment described in the following can be implemented without changes to the WiFi hardware and software residing in the mobile terminal 701 (assuming a typical WiFi support by the mobile terminal 701) .
  • the mobile terminal 701 just needs to use a standard 4-way handshake with the LAPs 702 and the MAP 703 to achieve the localization.
  • the LAPs 702 and the MAP 703 are configured with the same MAC (Medium Access Control) address when the localization process ( triangulation process) is carried out. Although for the purpose of localization process the MAC address is set to be the same, the LAPs 702 and the MAP 703 can also change their MAC address to a unique address to communicate normally with other devices.
  • MAC Medium Access Control
  • Figure 8 shows a message flow diagram 800 illustrating a 4- way handshake message exchange used for a localization process according to one embodiment.
  • the message exchange takes place between a mobile station 801, a MAP 802 and, in this example, two LAPs 803, 804 corresponding to the mobile terminal 701, the MAP 703 and two of the LAPs 702.
  • the 4-way handshake message exchange includes the mobile station 801 sending an RTS message 805, the MAP 802
  • the 4-way handshake process can actually be seen to take place between the mobile station 801 and the MAP 802 but the LAPs 803, 804 also react to the 4-way handshake since they have the same MAC address as the MAP 802.
  • the transmission of the RTS message and the data message to the LAPs is illustrated in figure 7 by means of first solid arrows 704.
  • the transmission of the CTS message and the ACK message from the MAP 703 to the mobile station 701 is illustrated by means of second solid arrows 705.
  • Dashed arrows 706 indicate the overhearing of the CTS message and the ACK message by the LAPs 702.
  • the localization process starts when the mobile station 801 sends the RTS message (or frame) 805 to the MAP 802 and the LAPs 803, 804 (due to the same MAC address) .
  • the MAP 802 and the LAPs 803, 804 receive and process the frame because these devices share the same MAC address.
  • the WiFi baseband
  • chipsets in the LAPs 803, 804 and the MAP 802 then process the RTS message and reply with a CTS message.
  • the transmitters of the LAPs 803, 804 are muted such that the CTS frame from the LAPs 803, 804 are suppressed from being sent out and only the CTS message 806 of the MAP 802 is
  • the mobile station 801 When the mobile station 801 receives the CTS message 806 from the mobile station 802, it processes it and sends out the data message (data frame) 807.
  • the data frame 807 is received by the LAPs 803, 804 and the MAP 802 because their MAC address matches the destination MAC address in the data frame.
  • the WiFi baseband chipset in the LAPs 803, 804 and the MAP 802 then processes the data frame and replies with an ACK frame.
  • the transmitters of the LAPs 803, 804 are again muted such that the ACK frames from LAPs 803, 804 are
  • the ACK frame 808 from the MAP 802 is allowed to be transmitted through the RF interface of its Wifi device 601 to the mobile station 801 to complete the 4-way handshake process.
  • the MAP 801 sends out the ACK frame 808 with the mobile station's destination MAC address, it is also overheard and processed by the neighbouring LAPs 803, 804.
  • This processing is not carried out by the WiFi device 601 but by the ADC and FPGA block 604.
  • This processing includes measuring the time of arrival of the ACK frame 808 at the respective LAP 803, 804 and is used by the LAP 803, 804 for MAP/LAPs time synchronizing purposes in the Time Difference of Arrival (TDOA) calculation.
  • TDOA Time Difference of Arrival
  • the timestamp measuring at the MAP 801 is illustrated in figure 9.
  • Figure 9 shows a message flow diagram 900.
  • the message flow diagram 900 corresponds to the message flow of figure 8 and thus includes the exchange of an RTS message 905, a CTS message 906, a data message 907.and an ACK message 908 between a mobile station 901, a MAP 902 and LAPs 903, 904.
  • the ADC and FPGA block 604 of the MAP 901 measures and records two timestamps.
  • the first timestamp 909 is the arrival of the data message 907 at the MAP 901.
  • the second timestamp 910 is the TX pin activation of the WIFI baseband chipset of the MAP 901. Alternative to the TX pin activation, the second timestamp 910 can be recorded based on the
  • the TX pin activation during the CTS frame preparation 911 may be used. Due to the fixed CTS frame size, the ADC and FPGA block 604 can use a rough offset to start sampling the incoming data message 907 at the correct time.
  • the timestamp measurement of an incoming signal can be done by the ADC and FPGA block 604 using a high speed counter (for example a 1 GHz counter).
  • This counter is free running the MAP 902.
  • the counter is first started when the data frame 907 arrives. The counter can then be stopped at the start of the TX pin activation 910 due to ACK frame preparation or at the start of the ACK frame reception measured by the ADC/FPGA block 604.
  • the timestamp measuring at the LAPs 803, 804 is illustrated for the first LAP 803 as an example in figure 10.
  • Figure 10 shows a message flow diagram 1000.
  • the message flow diagram 1000 corresponds to the message flow of figure 8 and thus includes the exchange of an RTS message 1005, a CTS message 1006, a data message 1007 and an ACK message 1008 between a mobile station 1001, a MAP 1002 and LAPs 1003, 1004.
  • the ADC/FPGA block 604 of the LAP 803 measures the time of arrival of the data frame 1007 as a first time stamp. Similar to the MAP 1002, the measurement can be done using a high speed counter (for example a 1 GHz counter). These counters are free running in all LAPs 1003, 1004 and are unsynchronized to each other and to the one of the MAP 1002. The counter is first started when the data frame 1006 arrives. Once the data frame 1007 is read by the LAP' s WIFI device 601, the LAP' s WIFI device 601 prepares an ACK frame to send to the mobile station 1001. However, the ACK frame is suppressed from being transmitted. This operation is for example controlled by the ADC and FGPA block 604 or the WIFI interface driver.
  • the time of arrival of the ACK frame 1008 that is transmitted from the MAP 1002 is measured by the LAP's ADC and FPGA block 604 as a second timestamp 1010.
  • the time of arrival of this ACK frame is used to stop the counter and is used to back calculate the estimated synchronized time with the MAP 1002.
  • To allow distance of arrival localization a time
  • these time measurements can be used to synchronize the counters of the LAPs 502 and the MAP 503. (It should be noted that the MAP 503 can also measure the arrival time of its own ACK message instead of observing its TX pin time. )
  • the counters (clocks) of the LAP 502 and the MAP 503 can be synchronized.
  • synchronized times of arrival of the data frame 1106 at the MAP 1102 and the LAPs 1103, 1104 can be obtained from which the mobile station' s position can be determined by means of
  • the LAPs 1103, 1104 report the times of arrival of the data frame 1106 which they have measured to the MAP 1102 which performs the triangulation and reports the localization result to the mobile station 1101.
  • the MAP 1102 and the LAPs 1103, 1104 report the times of arrival of the data frame 1106 which they have measured to the mobile station 1101 and the mobile station 1102 performs the triangulation itself.
  • the triggering for the ADC sampling at the LAPs 502 and the MAP 503 is illustrated in figure 11.
  • Figure 11 shows a message flow diagram 1100.
  • the message flow diagram 1100 corresponds to the message flow of figure 8 and thus includes the exchange of an RTS message 1105, a CTS message 1106, a data message 1107 and an ACK message 1108 between a mobile station 1101, a MAP 1102 and LAPs 1103, 1104.
  • the TX pin at the MAP 1102 and at the LAPs 1103, 1104 is triggered when the RTS frame arrives at the MAP 1102 and the LAPs 1103, 1104 and when the respective CTS message is prepared to be sent back to the mobile station 1101.
  • This TX pin activation is then used by the FPGA and ADC block 604 of the respective MAP 1102 or LAP 1103, 1104.
  • the data frame 1107 from the mobile station 1101 can be estimated to arrive at the MAP 1102 and the LAPs 1103, 1104 after some period.
  • the time can also be estimated based on prior 4-way handshake operations between the mobile station 1101 and the MAP 1102 and the LAPs 1103, 1104.
  • ADC sampling at a MAP 1102 or LAP 1103, 1104 is performed just before the data frame 1107 arrives at the respective MAP 1102 or LAP 1103, 1104. Once the samples are obtained, the samples are passed to the FPGA for processing If the DATA frame size is kept constant, the ADC and FPGA block 604 of a LAP 502, 503 can also estimate the arrival time of the ACK frame 1106 from the MAP 902.

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Mobile Radio Communication Systems (AREA)

Abstract

Selon un mode de réalisation, la présente invention concerne un procédé de localisation d'un dispositif de communication mobile, ledit procédé consistant à transmettre un message de données à partir du dispositif de communication mobile vers un premier point d'accès, à déterminer les temps de réception du message de données au niveau du premier point d'accès et au niveau de seconds points d'accès, à transmettre un message d'accusé de réception pour le message de données à partir du premier point d'accès vers le dispositif de communication mobile, à déterminer les temps de réception du message d'accusé de réception au niveau des seconds points d'accès et à déterminer la position du dispositif de communication mobile sur la base des temps de réception du message de données et des temps de réception du message d'accusé de réception.
PCT/SG2014/000353 2013-07-26 2014-07-25 Procédé et dispositif de positionnement pour la localisation d'un dispositif de communication mobile WO2015012767A1 (fr)

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SG11201600599QA SG11201600599QA (en) 2013-07-26 2014-07-25 Method and positioning device for localization of a mobile communication device
CN201480052593.4A CN105580461B (zh) 2013-07-26 2014-07-25 用于对移动通信装置定位的方法和定位装置

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CN105929365A (zh) * 2016-04-27 2016-09-07 严炜 一种uwb高精度定位系统及定位方法
WO2017204673A1 (fr) 2016-05-24 2017-11-30 Limited Liability Company "Topcon Positioning Systems" Procédé et appareil pour la détermination de position d'une station mobile au moyen de signaux wi-fi
US11764912B2 (en) 2021-05-26 2023-09-19 Cisco Technology, Inc. Leader access point acknowledgment using shortened SIFS relative to follower access point in a WiFi network

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Publication number Priority date Publication date Assignee Title
CN105929365A (zh) * 2016-04-27 2016-09-07 严炜 一种uwb高精度定位系统及定位方法
CN105929365B (zh) * 2016-04-27 2018-07-24 成都精位科技有限公司 一种uwb高精度定位系统及定位方法
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WO2017204673A1 (fr) 2016-05-24 2017-11-30 Limited Liability Company "Topcon Positioning Systems" Procédé et appareil pour la détermination de position d'une station mobile au moyen de signaux wi-fi
EP3465273A4 (fr) * 2016-05-24 2020-01-15 Topcon Positioning Systems, Inc. Détermination de position d'une station mobile au moyen de signaux wi-fi
US11764912B2 (en) 2021-05-26 2023-09-19 Cisco Technology, Inc. Leader access point acknowledgment using shortened SIFS relative to follower access point in a WiFi network

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