Contents1 Introduction1.1 Radio Propagation............................1.2 Localization Algorithms.........................1.3 Framework and Implementation.....................1.4 Evaluation.................................1.5 Outline...................................1234562 Background 72.1 Radio Propagation Model........................ 72.1.1 PHOTON Raytracer....................... 102.1.2 Optimization with Genetic Algorithms............. 122.1.3 Error................................ 132.2 Positioning................................ 132.2.1 Techniques............................. 142.3 Tracking.................................. 162.3.1 Mobility Models.......................... 162.3.2 Error................................ 182.4 Bayesian Pattern Recognition...................... 182.5 Hidden Markov Models .......................... 212.5.1 Decision Rule........................... 232.5.2 Viterbi Algorithm......................... 232.5.3 Higher Order Models....................... 252.5.4 Logspace.............................. 252.5.5 Pruning.............................. 272.5.6 Training.............................. 282.6 Continuous Models............................ 28