How did they get SSID<->location information?
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Looks like Apple's API allowed them to just look up any MAC address without rate limiting.
Okay but what about the position where the AP is?
Google, Apple etc save lists of APs and their GPS coordinates via phones for example.
Probably with GPS. Or a combination of GPS and already known Access Points from multiple smartphones.
The tech companies literally drive around cars looking at what wifi beacons they see, and then store the locations where those BSSIDs were seen.