“…These technologies include: 1) infrared [13]; 2) sound [14][15][16][17]; 3) vision [18][19][20][21]; 4) inertial sensors [22,23]; 5) radio frequency (including both WiFi and Zigbee) [6,10,[24][25][26][27][28][29][30][31][32][33]; and 6) landmarks [34][35][36][37]. High-sensitivity GPS sensors have also been evaluated in indoor environments, however, even with the ability to receive signals up to 1000 times weaker than normal GPS, high-sensitivity GPS receiver is still unreliable for indoor environments [38,39].…”