System and method for locating, tracking, and/or monitoring the status of personnel and/or assets both indoors and outdoors

A computer-implemented method of tracking a trackee both indoors and outdoors, comprising:

• receiving as input, at a computer, tracking data for a tracking path being followed by a trackee, wherein the tracking data includes tracking points, and wherein each tracking point includes at least two-dimensional location coordinates;
• when building data is available for part or all of one or more buildings, receiving as input at the computer, the building data and utilizing the building data to develop a first set of mathematical constraints on a tracking path solution based on the tracking data that improves the accuracy of the tracking data;
• when the building data is not available, generating building features of part or all of the one or more buildings based on one or more of segmentation of the tracking path and classification of the trackee's motion based on the tracking data as the trackee traverses a building and utilizing the building features to develop a second set of mathematical constraints on the tracking path solution that improves the accuracy of the tracking data;
• and
• generating and displaying, via a graphical user interface associated with the computer, position estimates generated based on the improved tracking data.