Navigation is one of the most significant skills which humans have acquired and perfected with time. It started with following the North-Star, direction of wind and movement of sun which has now reached to one of the most efficient techniques of navigation today which use GPS (Global Positioning System), SONAR (Sound Navigation and Ranging) etc. Localization is an important part of navigation which means to locate an object of interest in a designated area. This technique is used these days for locating assets, rescue operations, navigation etc. GPS is the most popular Navigation system used these days, which was developed by US Dept of Defence and the made public for general use in later stages. Majority of navigation systems today rely use GPS which has displayed exceptional performance time and again. Unfortunately, GPS is not as accurate in indoor environment as it is in outdoor environment due to absorption, Multipath reflection, interference experienced in indoor environment. A Localisation system which helps locate assets like patients in a building, mobile industrial machinery in an industrial workshop, victims in hazardous buildings like a building北美最强代写 on fire is required. A revolutionary approach still under research is Peer-assisted navigation. Presence of various smart phones in an environment can be seen as high density transmitters and receivers which form a complex web of network for locating an object of interest. The communication between various phones is done by using acoustics (sound). The intuition underlying the peer assisted localization algorithm is to construct a graph based on the relative distances among devices, and then superimpose the graph onto the signature map based on the initial WiFi location estimates. The algorithm rotates and translationally 1 moves the graph against the signature map, such that the vertices have a close placement to the true locations, as measured by certain metric. Its feasibility is still under evaluation. Finally, the most popular one is RSSI fingerprinting technique which is cheap and readily available, but it has a lot of factors that make it unreliable to use.