\section{System Overview}

The navigation system is based on our previous works, primarily on the approach presented in \cite{ebner-15}. 
For this, we have been awarded the best overall paper award at IPIN 2015 in Banff, Canada. 
Since then, we extended our approach by prior navigation knowledge using realistic human walking paths \cite{} and smoothing methods \cite{}. 
Additionally, a self-developed map editor allows for creating advanced 3D maps and realistically shaped stairs.
Compared to many other systems, we avoid any time-consuming fingerprinting and calibration processes and are able to start with a uniform distribution over the whole building.
All calculations are computed in real time on a commercial smartphone, in most of our examples this is the Motorola Nexus 6.
The system is implemented in C++ using the Qt framework and OpenCL. 

An overview of all involved components and the sensor fusion procedure can be seen in fig. \ref{}. 
Here, the smartphone provides all necessary measurements and no additional device is needed.


This ensures sensor is defect or is not provided by the smartphone itself

\begin{itemize}
	\item Hinfuehren zum System
	\item aus welchen arbeiten fuegt sich das system zusammen?
	\item grober ueberblick ueber die einzelnen komponenten und sensoren
	\item modulare uebersicht ueber das gesamte system.  (denis bild + smoothing und prior)
	\item particle filter mit formeluebersicht und was fusioniert wird
	\begin{figure}[h!]
		\centering%
		\includegraphics[trim=99 0 0 0, clip, width=8.2cm]{editor1.png}%
	\end{figure}
\end{itemize}

\cite{ebner-15}

\section{Prior Arrangements}
System setup is very easily and no fingerprinting is required.

\begin{itemize}
\item Map building: Grobe Beschreibung, Funktionen und Moeglichkeiten des Map Builders. bildchen
\item Adding Transmitters: geht schnell und ist total einfach
\end{itemize}



\input{chapters/components.tex}


\begin{itemize}
	\item Fixed-lag smoother
\end{itemize}

\section{Performance Overview}
Wie toll sind wir? kurzer ueberblick der ergebnisse in einer tabelle und paar worte dazu. eventl graphic.
