... performing system Finally, Section gives some information about the performance of all those different systems, when used separately, and cooperatively BASIC INDOOR MOBILE POSITIONING WITH WIFI ... rotation of the mobile: ˙ θ − = θk−1 − θk · ΔT, Ts2 ⎢ +⎢ ⎣ k − Pk = Q + Pk−1 , COOPERATION BETWEEN INS NAVIGATION AND WIFI POSITIONING SYSTEMS Combination of GPS and inertial navigation sensors ... Comparison of the performances of the different systems for a trajectory in the corridor (use of Access Points, located at each corner in the building, for the WiFi positioning) Figure 6: Result of the...