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El‑Sheimy and Li Satell Navig (2021) 2:7 Satellite Navigation
https://doi.org/10.1186/s43020‑021‑00041‑3
https://satellite‑navigation.springeropen.com/

REVIEW Open Access

Indoor navigation: state of the art and future

trends

*
Naser El‑Sheimy and You Li

Abstract
This paper reviews the state of the art and future trends of indoor Positioning, Localization, and Navigation (PLAN).
It covers the requirements, the main players, sensors, and techniques for indoor PLAN. Other than the navigation
sensors such as Inertial Navigation System (INS) and Global Navigation Satellite System (GNSS), the environmental‑
perception sensors such as High‑Defnition map (HD map), Light Detection and Ranging (LiDAR), camera, the ffth
generation of mobile network communication technology (5G), and Internet‑of‑Things (IoT) signals are becoming
important aiding sensors for PLAN. The PLAN systems are expected to be more intelligent and robust under the emer‑
gence of more advanced sensors, multi‑platform/multi‑device/multi‑sensor information fusion, self‑learning systems,
and the integration with artifcial intelligence, 5G, IoT, and edge/fog computing.
Keywords: Navigation, Indoor positioning, Information fusion, Wireless localization, Dead reckoning, Database
matching

Introduction emerging vehicle applications (e.g., autonomous driving
Te Positioning, Localization, and Navigation (PLAN) and connected vehicles) need indoor-PLAN capability.
technology has been widely studied and successfully Compared with traditional vehicles, unmanned vehicles
commercialized in many applications such as mobile face three important problems: PLAN, environmen-
phones and unmanned systems. In particular, indoor tal perception, and decision-making. A vehicle needs to
PLAN technology is becoming increasingly important PLAN itself into the surrounding environment before
with the emergence of new chip-level Micro-Electrome- making decisions. Terefore, only by solving the indoor
chanical System (MEMS) sensors, positioning big data, PLAN can fully autonomous driving and location ser-
and Artifcial Intelligence (AI) technology, as well as the vices be achieved.
increase of public interest and social potential. Social benefts Accurate PLAN can serve safety and
medical applications and beneft special groups such as
The market value of indoor navigation: social benefts the elderly, children, and the disabled. Meanwhile, PLAN
and economic value technology can bring a series of location services, such
Te global indoor PLAN market is expected to reach $ as Mobility as a Service (MaaS), which increases travel
28.2 billion by 2024, growing at a Compound Annual convenience and security, and reduces carbon emission
Growth Rate (CAGR) of 38.2% (Goldstein 2019). Indoor (through changing owned vehicles to shared ones). Also,
PLAN has attracted the attention of not only consumer reliable PLAN technology can reduce road accidences,
giants such as Apple and Google but also self-driving 94% of which are caused by human errors (Singh 2015).
players such as Tesla and Nvidia. Tis is because the Economic values As a demander of indoor PLAN,
autonomous driving technology is expected to reduce
the ratio of owned to shared vehicles to 1:1 by 2030
*Correspondence: li29@ucalgary.ca (Schönenberger 2019). By 2050, autonomous cars will be
Department of Geomatics Engineering, University of Calgary, 2500 expected to bring savings of 800 billion dollars annually
University Drive N.W, Calgary, AB T2N 1N4, Canada

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