Novel systems and methodologies for precise indoor positioning employs a plurality of synchronized beacons emitting uniquely identifiable acoustic positioning signals in synchronized fashion to one another for receipt by microphone-equipped tracking devices, and beacon controllers emitting wireless synchronization signals receivable by RF receivers of those devices, at least one of which has multiple microphones to enable calculation of both position and orientation. An onboard IMU of each tracking device is used for dead reckoning between acoustic epochs, and for efficiently targeted searching of expected acoustic signals in the captured audio samples. Audio and IMU data captured by the target device is used for event detection purposes, and in the case of the former, to diagnose and remediate or mitigate environmental noise of detriment to the acoustic positioning functionality.

Novel systems and methodologies for precise indoor positioning employs a plurality of synchronized beacons emitting uniquely identifiable acoustic positioning signals in synchronized fashion to one another for receipt by microphone-equipped tracking devices, and beacon controllers emitting wireless synchronization signals receivable by RF receivers of those devices, at least one of which has multiple microphones to enable calculation of both position and orientation. An onboard IMU of each tracking device is used for dead reckoning between acoustic epochs, and for efficiently targeted searching of expected acoustic signals in the captured audio samples. Audio and IMU data captured by the target device is used for event detection purposes, and in the case of the former, to diagnose and remediate or mitigate environmental noise of detriment to the acoustic positioning functionality.