
\begin{abstract}
Navigating to a desired destination is a key aspect of indoor localisation. Up to this point many different systems using present or past information for estimating the pedestrian's position were presented. 
Our work proposes a novel approach that incorporates prior navigation knowledge by using realistic human walking paths.
In order to create such paths, we present a method that assigns an importance factor to every node of a regular tessellated graph by avoiding walls and detecting doors. 
The human movement is then modelled by moving along adjacent nodes into the most proper walking-direction. 
To be able of going into the 3rd dimension, realistically shaped stairs for step-wise floor changes are used. 
The position is estimated over multiple floors integrating different sensor modalities, namely Wi-Fi, iBeacons, barometer, step-detection and turn-detection.
The system was tested by omitting any time-consuming calibration process and starts with a uniform distribution instead of a well known pedestrian location. 
The evaluation shows that adding prior knowledge is able to improve the localisation, even for unpredictable behaviour, faulty measurements and for poorly chosen system parameters. 
\end{abstract}
