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El‑Sheimy and Li Satell Navig (2021) 2:7 Page 17 of 23

Fig. 9 INS/Barometer/Mass‑fow/Ultrasonic integrated navigation (modifed on the results reported in Li et al. (2019a))

Future trends in the direction of low-cost and small-sized to facili-
Tis section summarizes the future trends for indoor tate their commercialization. For HD maps, reducing
PLAN, including the improvement of sensors, the use of maintenance costs and increasing update frequency is
multi-platform, multi-device, and multi-sensor informa- key. Te camera may further increase its physical per-
tion fusion, the development of self-learning algorithms formance such as self-cleaning, larger dynamic range,
and systems, the integration with 5G/ IoT/ edge comput- stronger low-light sensitivity, and stronger near-infra-
ing, and the use of HD maps for indoor PLAN. red sensitivity.
It is expected that the introduction of new wireless
infrastructure features (e.g., 5G, LPWAN, WiFi HALow,
Improvement of sensors WiFi RTT, Bluetooth long range, and Bluetooth direc-
Table 12 illustrates the future trends of sensors in tion fnding) and new sensors (e.g., UWB, LiDAR,
terms of PLAN. Sensors such as LiDAR, RADAR, iner- depth camera, and high-precision GNSS) in consumer
tial sensors, GNSS, and UWB are being developed devices will bring in new directions and opportunities
for the PLAN society.