An indoor positioning system is disclosed, which is used for positioning a to-be-positioned device. The system comprises at least three different locations in one indoor space, which each provides a corresponding reference object with unique feature information and a positioning device. The feature information of each reference object relates to a 2D coordinate. The positioning device comprises an image shooting unit for shooting at least one image of the reference object, and a processing unit. The processing unit obtains at least three pixel positions of the reference object from the image, and estimates a first angel and a second angel according to the pixel positions and the focal distance of the image shooting unit. Considering the features of the reference object, the first angle and the second angle, the positioning coordinate of the positioning device on the ground level can be calculated.

Applied Country	Category	專利狀態	證書號	專利權期間	研究成果公告日期
US	Intelligence and safety	獲證	US10,007,825B2	2018/06/26~2034/12/29