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Describing the relevant detection and estimation theory, this detailed guide provides the background knowledge needed to tackle the design of practical WLAN positioning systems. It sets out key system-level challenges and design considerations in increasing positioning accuracy and reducing computational complexity, and it also examines design trade-offs and experimental results. Radio characteristics in real environments are discussed, as are the theoretical aspects of non-parametric statistical tools appropriate for modeling radio signals, statistical estimation techniques and the model-based stochastic estimators often used for positioning. A historical account of positioning systems in also included, giving graduate students, researchers and practitioners alike the perspective needed to understand the benefits and potential applications of WLAN positioning.