Table 1.

Overview of Indoor Positioning Systems.

System	Type	Cost	Scalability	Anchors	Area (${\mathbf{m}}^2$)	Error
						Type	Value
Harter et al. [12]	Time	Expensive	Limited	100	280	95th	0.09 m
Priyantha et al. [13,95]	Time	Medium	Limited	6	<10	90th	0.3 m
Correa et al. [22]	RSS	Low	Yes	6	530	RMSE	1.4 m
Palumbo et al. [23]	RSS	Low	Yes	8	36	75th	1.8 m
Yang et al. [19]	RSS	Low	Yes	5	3400	median	3 m
Lin et al. [27]	Proximity	Low	Yes	12	300	room detection	97.2 %
Bolic et al. [25]	Proximity	Low	Yes	24	8	RMSE	0.32 m
Bahl et al. [30]	Fingerprinting	Medium	Limited	3	980	75th	4.69 m
Han et al. [31]	Fingerprinting	Medium	Limited	3400	192,200	75th	3–9 m
Youssef et al. [35]	Fingerprinting	Medium	Limited	21	1700	90th	1.4 m
Wu et al. [34]	Magnetic fingerprinting	Low	Limited	0	4000	90th	2.5 m
Foxlin et al. [38]	Inertial	Low	Yes	0	75	% travelled path	0.3 %
Jimenez et al. [39]	Inertial	Low	Yes	0	3600	% travelled path	0.3–1.5 %
Angermann et al. [44]	Inertial	Low	Limited	0	600	RMSE	1–2 m