Table 5.

Smartphone positioning systems.

System	Technologies				Fusion Method	Area (${\mathbf{m}}^2$)	Error		Cost	Scalability
	WiFi	IMU	Magnetic	Map			Type	Value (m)
Pei et al. [56]	Yes	Yes	No	No	HMM	Building	RMSE	4.55	Medium	Limited by calibration
Faragher et al. [57]	Yes	Yes	Yes	Yes	SLAM	450	95th	2.7	Medium	Limited by calibration and complexity
Liu et al. [59]	Yes	Yes	No	Yes	HMM	Floor	RMSE	3.1	Medium	Limited by calibration
Radu et al. [60]	Yes	Yes	No	Yes	PF	Floor	90th	6	Medium	Limited by calibration
Moder et al. [61]	Yes	Yes	No	Yes	PF	Building	90th	2.3	Medium	Limited by calibration
Chen et al. [62]	Yes	Yes	No	Yes	KF	3800	RMSE	1	Medium	Limited by calibration
Li et al. [63]	Yes	Yes	Yes	No	EKF	8400	RMSE	2.9	Medium	Limited by calibration
Correa et al. [67]	Yes	Yes	No	No	EKF	6000	RMSE	1.4–3.4	Low	Yes
Zou et al. [65]	Yes	Yes	No	No	PF	600	Mean	0.6	Medium	Limited by calibration
Chen et al. [66]	Yes	Yes	No	Yes	KF	425	RMSE	1.28	Low	Yes