In recent years, as the use of mobile smartphones, personal assistants and other IoT devices is growing, there is an increasing demand for positioning systems that provide a reliable and accurate location in areas where Global Positioning System (GPS) cannot work. Places such as office buildings, museums, parking lots, airports and shopping malls all suffer from the limitation of satellite signals that do not pass through metal and concrete walls.
Some methods for positioning in such environments make use of electromagnetic waves such as Bluetooth or Wi-Fi, while others utilize a different approach where acoustic, often ultrasonic waves are used.