This paper presents a comprehensive overview of the evolution of indoor navigation and positioning technologies over the past two decades, with a particular focus on the role of Global Navigation Satellite System (GNSS) technology. The journey begins with early indoor positioning systems reliant on Wi-Fi and Bluetooth signals, facing accuracy challenges and infrastructure requirements. The integration of sensor fusion techniques, such as accelerometers, gyroscopes, and magnetometers, improved precision during this period.

The advent of smartphones in the mid-2000s brought about a paradigm shift in indoor navigation. Leveraging GNSS for outdoor positioning and integrating various sensors, smartphones enabled the development of augmented reality (AR) applications and indoor mapping technologies. Despite the limitations of GNSS signals indoors, it played a crucial role in providing seamless outdoor-to-indoor transitions.

In recent years, advancements in computer vision and machine learning have further shaped indoor navigation. Visual SLAM algorithms and depth-sensing cameras contribute to real-time mapping and positioning, reducing reliance on GNSS in indoor environments. Simultaneously, ultra-wideband (UWB) technology has emerged, offering high-precision location tracking within confined spaces.

Looking forward, the paper explores the future of indoor navigation, emphasizing the role of GNSS in creating a holistic positioning ecosystem. The integration of 5G networks promises enhanced communication between devices, while AI algorithms continue to refine positioning accuracy. The Internet of Things (IoT) devices are set to create interconnected smart spaces, and GNSS will remain integral for seamless transitions between indoor and outdoor environments.

In conclusion, the evolution of indoor navigation has been shaped by a dynamic interplay of technologies, with GNSS acting as a crucial component in bridging outdoor and indoor positioning. As we anticipate the future, GNSS technology, alongside advancements in AI, IoT, and 5G, is poised to redefine indoor navigation, offering a comprehensive, accurate, and adaptable navigation experience within complex indoor environments.

Assoc. Prof. Ir. Dr. Khairi Bin Abdul Rahim has made significant contributions to the field of navigation and positioning technology through his extensive research work. His research has focused on various aspects of navigation technology, including pedestrian navigation and indoor navigation. He has presented his findings at prestigious international conferences and has published numerous articles in reputable journals such as the Journal of Navigation, IEEE Sensors Journal, and IEEE Access. Additionally, he has received research grants more than RM600,000 demonstrating the recognition and support for his research endeavors. Furthermore, his research has delved into the practical implementation of kinematic constraints in INS-DVL based navigation, multiple virtual track-based pedestrian dead reckoning systems, and performance evaluation of feature detection methods for visual measurements in vision-aided integrated navigation systems. These contributions highlight his expertise and significant impact in the field of navigation and positioning technology.

He also has held various academic and administrative positions throughout his career. Academically, he has served as a Dean, Associate Professor, Visiting Researcher, Senior Lecturer, and Lecturer at Universiti Sains Islam Malaysia (USIM). In terms of administrative roles, he has held positions such as the Head of Department of Electronic Engineering, Head of Program for Electronic Engineering, and Deputy Director of the Research and Innovation Management Center at USIM. He also holds several professional memberships, including being a Professional Engineer (Electronic) with the Board of Engineers Malaysia, a Member of the Board Of Engineers Malaysia, and a Corporate Member of the Institute of Engineers Malaysia.