[IEEE 2015 IEEE 7th International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM) - Siem Reap, Cambodia (2015.7.15-2015.7.17)] 2015 IEEE 7th International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM) - Real-time indoor positioning system based on RFID Heron-bilateration location estimation and IMU angular-driven navigation reckoning