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Applications of pedestrian navigation systems include navigation for visitors to a town or city, guiding visitors round a shopping centre or exhibition, navigation for the blind and visually impaired, locating callers to emergency services, finding and rescuing fire fighters and other emergency workers, people tracking (ie the elderly, patients, parolees and corporate executives), locationbased services, hiking, sports and geolocation for dismounted soldiers.

Pedestrian navigation is one of the most challenging applications of GNSS because operation is required in dense urban areas, indoors and in woodland, where the signals are subject to severe blockage, attenuation and multipath. High-sensitivity user equipment expands the range of environments within which GNSS will operate. However, tracking errors are large in poor signal-to-noise environments, while high sensitivity and multipath mitigation may not be achieved simultaneously using receiver-based techniques [1]. Thus, position errors using GPS C/A code can be many tens of metres in difficult environments. Deep inside buildings, in tunnels and underground, GNSS cannot be used at all.