“…Other than GNSS, short-ranged signals such as WiFi, Bluetooth (Bahl and Padmanabhan, 2000;Chen et al, 2013;Gomes and Sarmento, 2009;Pei et al, 2010b;Pei et al, 2010c;Priyantha et al, 2000), Radio-Frequency Identification (RFID) (Ni et al, 2004), Ultra Wideband (UWB) (Pahlavan et al, 2006), longranged signals such as Global System for Mobile communications (GSM) (Syrjärinne, 2001), Digital Television (DTV) , and magnetic fields (Storms et al, 2010) have been utilised in indoor localisation for schemes such as proximity, fingerprinting, or triangulation. Microelectromechanical Systems (MEMS) motion sensors offer the opportunity of continuous relative navigation when the localisation infrastructure is unavailable Chen et al, 2011a;Chen et al, 2011b;Foxlin, 2005;Indoor Atlas Ltd, 2011;Mathews et al, 2011;Pei et al, 2010a;Pei et al, 2011;Pei et al, 2012;Pei et al, 2013).…”