US Patent: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/9245059
A system and method for determining a location within a physical structure are described. The location within the physical structure can be determined by storing a model of a physical structure comprising a plurality of nodes connected by a plurality of struts, each of the nodes and struts of the model corresponding to respective nodes and struts of the physical structure; assigning a non-unique ID to each node of the model according to a pseudo-random sequence, wherein each node of the physical structure encodes the non-unique ID assigned to the corresponding node of the model; receiving a set of non-unique IDs encoded onto respective nodes of a contiguous subset of nodes of the physical structure; locating a set of non-unique IDs in the model corresponding to the received set of non-unique IDs; and determining a location in the physical structure from the located set of non-unique IDs in the model.

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