ios – Indoor Navigation with out Beacons

at the moment i’am engaged on a college undertaking the place i wish to create a smartphone indoor navigation answer with out beacons. Is there any potential means of mixing the map of the world with sensors of the smartphone to get an excellent accuracy? Once I did analysis the many of the options depend on BLE Beacons, some on different applied sciences.

I solely noticed one firm known as mapsted which simply depend on their algorithm. However i can’t thoughts how this could work. Like i believed indoor positioning all the time want one thing (e.g. beacon) to find out the smartphones location by way of triangulation.

If anybody has some ideas on this matter, thanks 🙂