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\begin{abstract}
This technical description gives an short overview of the indoor localisation and navigation system developed at the University of Applied Sciences W\"urzburg-Schweinfurt and the University of Siegen, Germany.
This technical description gives a short overview of the indoor localisation and navigation system developed at the University of Applied Sciences W\"urzburg-Schweinfurt and the University of Siegen, Germany.
A highly modular system fusing different sensors, namely Wi-Fi, iBeacons, barometer, step- and turn-detection, will be shown.
Additionally extended knowledge provided by prior and past data is incorporate by natural walking paths and smoothing.
Additionally, extended knowledge provided by prior and past data is incorporate by natural walking paths and smoothing.
The system performs all calculations in real time on a commercial smartphone using a high number of particles.
\commentByFrank{particles? haben wir das hier schon eingefuehrt?}
\end{abstract}