Although GNSS offers ubiquitous coverage worldwide, its accuracy can be hindered in some situations - signals can be attenuated by heavy vegetation, for example, or obstructed by tall buildings in dense urban canyons. This results in signals being received indirectly or via the multipath effect, leading to inaccuracy, or even blocked entirely. Unimpeded GNSS positioning in all real world scenarios is therefore unrealistic - creating a need for supporting technologies, such as real time kinematic (RTK) positioning and dead reckoning, to enable centimeter-accuracy for newer mass-market IoT devices.