Modern industries and services increasingly rely on precise location tracking inside buildings, including factories, warehouses, shopping malls, and hospitals. In these indoor environments, global navigation satellite systems like Global Positioning System (GPS) lose reliability or become unusable due to signal attenuation and multipath issues. This creates a need for specialized indoor positioning systems (IPS) that can operate in GPS-denied conditions. Such systems enable a range of applications, including asset tracking in manufacturing, guiding autonomous robots in warehouses, and navigation aids for occupants in smart buildings. They form a critical part of the Internet of Things (IoT) infrastructure by providing location context to indoor IoT devices and robots. For example, an IPS can help orchestrate autonomous forklifts on a factory floor or guide shoppers to products in a mall, improving operational efficiency and user experience.