\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. 
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. 
The system performs all calculations in real time on a commercial smartphone using a high number of particles. 


\end{abstract}
%\begin{IEEEkeywords} indoor positioning, Monte Carlo smoothing, particle smoothing, sequential Monte Carlo\end{IEEEkeywords}