“…Recently, the need for indoor positioning systems is rapidly growing due to the emerging indoor commercial application market, including asset tracking, personal security and entertainment (Holman, 2012) with ILBS, fueled by the proliferation of using personal smart devices. In general, the typical requirements of indoor positioning techniques using smart devices are: low cost, high accuracy and availability in a large variety of scenarios; e.g., large-scale environments (Anagnostopoulos et al, 2017). Since GPS devices generally work poorly in indoor environment, various radio-frequency (RF) based alternative approaches with different signals and sensors, such as Wi-Fi, Bluetooth Low Energy (BLE) beacons, Radio Frequency Identification (RFID), Ultra-wideband (UWB), etc., have been proposed for indoor positioning (Yassin et al, 2016).…”