diff --git a/app/build.gradle b/app/build.gradle
index 3e29b13f..b3013cd9 100644
--- a/app/build.gradle
+++ b/app/build.gradle
@@ -92,4 +92,19 @@ dependencies {
     testImplementation 'junit:junit:4.13.2'
     androidTestImplementation 'androidx.test.ext:junit:1.2.1'
     androidTestImplementation 'androidx.test.espresso:espresso-core:3.5.1'
+
+    //STONE-ADD
+    // GeoTools libraries
+    //implementation 'org.geotools:gt-referencing:28.0'
+    //implementation 'org.geotools:gt-geometry:28.0'
+
+    // JTS library for geometry operations
+    implementation 'org.locationtech.proj4j:proj4j:1.1.0'
+    //implementation 'org.apache.commons:commons-math3:3.6.1'
+
+    implementation 'org.ejml:ejml-simple:0.41'
+    //implementation 'org.osgeo:proj4j:1.1.0'
+
+
+
 }
diff --git a/app/src/main/AndroidManifest.xml b/app/src/main/AndroidManifest.xml
index 678711fd..c3d220d9 100644
--- a/app/src/main/AndroidManifest.xml
+++ b/app/src/main/AndroidManifest.xml
@@ -55,6 +55,8 @@
 
     <!-- Required if your app needs to access audio files that other apps created. -->
     <uses-permission android:name="android.permission.READ_MEDIA_AUDIO" />
+    <!-- Required for system wide fall detection alerts. -->
+    <uses-permission android:name="android.permission.SYSTEM_ALERT_WINDOW"/>
 
 
     <!--
diff --git a/app/src/main/java/com/openpositioning/PositionMe/Traj.java b/app/src/main/java/com/openpositioning/PositionMe/Traj.java
index 7925fa55..7170f006 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/Traj.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/Traj.java
@@ -1,5 +1,8 @@
-package com.openpositioning.PositionMe;// Generated by the protocol buffer compiler.  DO NOT EDIT!
-// source: Cloud/app/src/main/proto/traj.proto
+// Generated by the protocol buffer compiler.  DO NOT EDIT!
+// source: app/src/main/proto/traj.proto
+// Created by Semih Vazgecen on 20/03/2025
+
+package com.openpositioning.PositionMe;
 
 public final class Traj {
   private Traj() {}
@@ -19,7 +22,7 @@ public interface TrajectoryOrBuilder extends
     /**
      * <code>optional string android_version = 1;</code>
      */
-    String getAndroidVersion();
+    java.lang.String getAndroidVersion();
     /**
      * <code>optional string android_version = 1;</code>
      */
@@ -29,12 +32,12 @@ public interface TrajectoryOrBuilder extends
     /**
      * <code>repeated .Motion_Sample imu_data = 2;</code>
      */
-    java.util.List<Motion_Sample>
+    java.util.List<com.openpositioning.PositionMe.Traj.Motion_Sample> 
         getImuDataList();
     /**
      * <code>repeated .Motion_Sample imu_data = 2;</code>
      */
-    Motion_Sample getImuData(int index);
+    com.openpositioning.PositionMe.Traj.Motion_Sample getImuData(int index);
     /**
      * <code>repeated .Motion_Sample imu_data = 2;</code>
      */
@@ -42,23 +45,23 @@ public interface TrajectoryOrBuilder extends
     /**
      * <code>repeated .Motion_Sample imu_data = 2;</code>
      */
-    java.util.List<? extends Motion_SampleOrBuilder>
+    java.util.List<? extends com.openpositioning.PositionMe.Traj.Motion_SampleOrBuilder> 
         getImuDataOrBuilderList();
     /**
      * <code>repeated .Motion_Sample imu_data = 2;</code>
      */
-    Motion_SampleOrBuilder getImuDataOrBuilder(
+    com.openpositioning.PositionMe.Traj.Motion_SampleOrBuilder getImuDataOrBuilder(
         int index);
 
     /**
      * <code>repeated .Pdr_Sample pdr_data = 3;</code>
      */
-    java.util.List<Pdr_Sample>
+    java.util.List<com.openpositioning.PositionMe.Traj.Pdr_Sample> 
         getPdrDataList();
     /**
      * <code>repeated .Pdr_Sample pdr_data = 3;</code>
      */
-    Pdr_Sample getPdrData(int index);
+    com.openpositioning.PositionMe.Traj.Pdr_Sample getPdrData(int index);
     /**
      * <code>repeated .Pdr_Sample pdr_data = 3;</code>
      */
@@ -66,23 +69,23 @@ Motion_SampleOrBuilder getImuDataOrBuilder(
     /**
      * <code>repeated .Pdr_Sample pdr_data = 3;</code>
      */
-    java.util.List<? extends Pdr_SampleOrBuilder>
+    java.util.List<? extends com.openpositioning.PositionMe.Traj.Pdr_SampleOrBuilder> 
         getPdrDataOrBuilderList();
     /**
      * <code>repeated .Pdr_Sample pdr_data = 3;</code>
      */
-    Pdr_SampleOrBuilder getPdrDataOrBuilder(
+    com.openpositioning.PositionMe.Traj.Pdr_SampleOrBuilder getPdrDataOrBuilder(
         int index);
 
     /**
      * <code>repeated .Position_Sample position_data = 4;</code>
      */
-    java.util.List<Position_Sample>
+    java.util.List<com.openpositioning.PositionMe.Traj.Position_Sample> 
         getPositionDataList();
     /**
      * <code>repeated .Position_Sample position_data = 4;</code>
      */
-    Position_Sample getPositionData(int index);
+    com.openpositioning.PositionMe.Traj.Position_Sample getPositionData(int index);
     /**
      * <code>repeated .Position_Sample position_data = 4;</code>
      */
@@ -90,23 +93,23 @@ Pdr_SampleOrBuilder getPdrDataOrBuilder(
     /**
      * <code>repeated .Position_Sample position_data = 4;</code>
      */
-    java.util.List<? extends Position_SampleOrBuilder>
+    java.util.List<? extends com.openpositioning.PositionMe.Traj.Position_SampleOrBuilder> 
         getPositionDataOrBuilderList();
     /**
      * <code>repeated .Position_Sample position_data = 4;</code>
      */
-    Position_SampleOrBuilder getPositionDataOrBuilder(
+    com.openpositioning.PositionMe.Traj.Position_SampleOrBuilder getPositionDataOrBuilder(
         int index);
 
     /**
      * <code>repeated .Pressure_Sample pressure_data = 5;</code>
      */
-    java.util.List<Pressure_Sample>
+    java.util.List<com.openpositioning.PositionMe.Traj.Pressure_Sample> 
         getPressureDataList();
     /**
      * <code>repeated .Pressure_Sample pressure_data = 5;</code>
      */
-    Pressure_Sample getPressureData(int index);
+    com.openpositioning.PositionMe.Traj.Pressure_Sample getPressureData(int index);
     /**
      * <code>repeated .Pressure_Sample pressure_data = 5;</code>
      */
@@ -114,23 +117,23 @@ Position_SampleOrBuilder getPositionDataOrBuilder(
     /**
      * <code>repeated .Pressure_Sample pressure_data = 5;</code>
      */
-    java.util.List<? extends Pressure_SampleOrBuilder>
+    java.util.List<? extends com.openpositioning.PositionMe.Traj.Pressure_SampleOrBuilder> 
         getPressureDataOrBuilderList();
     /**
      * <code>repeated .Pressure_Sample pressure_data = 5;</code>
      */
-    Pressure_SampleOrBuilder getPressureDataOrBuilder(
+    com.openpositioning.PositionMe.Traj.Pressure_SampleOrBuilder getPressureDataOrBuilder(
         int index);
 
     /**
      * <code>repeated .Light_Sample light_data = 6;</code>
      */
-    java.util.List<Light_Sample>
+    java.util.List<com.openpositioning.PositionMe.Traj.Light_Sample> 
         getLightDataList();
     /**
      * <code>repeated .Light_Sample light_data = 6;</code>
      */
-    Light_Sample getLightData(int index);
+    com.openpositioning.PositionMe.Traj.Light_Sample getLightData(int index);
     /**
      * <code>repeated .Light_Sample light_data = 6;</code>
      */
@@ -138,23 +141,23 @@ Pressure_SampleOrBuilder getPressureDataOrBuilder(
     /**
      * <code>repeated .Light_Sample light_data = 6;</code>
      */
-    java.util.List<? extends Light_SampleOrBuilder>
+    java.util.List<? extends com.openpositioning.PositionMe.Traj.Light_SampleOrBuilder> 
         getLightDataOrBuilderList();
     /**
      * <code>repeated .Light_Sample light_data = 6;</code>
      */
-    Light_SampleOrBuilder getLightDataOrBuilder(
+    com.openpositioning.PositionMe.Traj.Light_SampleOrBuilder getLightDataOrBuilder(
         int index);
 
     /**
      * <code>repeated .GNSS_Sample gnss_data = 7;</code>
      */
-    java.util.List<GNSS_Sample>
+    java.util.List<com.openpositioning.PositionMe.Traj.GNSS_Sample> 
         getGnssDataList();
     /**
      * <code>repeated .GNSS_Sample gnss_data = 7;</code>
      */
-    GNSS_Sample getGnssData(int index);
+    com.openpositioning.PositionMe.Traj.GNSS_Sample getGnssData(int index);
     /**
      * <code>repeated .GNSS_Sample gnss_data = 7;</code>
      */
@@ -162,23 +165,23 @@ Light_SampleOrBuilder getLightDataOrBuilder(
     /**
      * <code>repeated .GNSS_Sample gnss_data = 7;</code>
      */
-    java.util.List<? extends GNSS_SampleOrBuilder>
+    java.util.List<? extends com.openpositioning.PositionMe.Traj.GNSS_SampleOrBuilder> 
         getGnssDataOrBuilderList();
     /**
      * <code>repeated .GNSS_Sample gnss_data = 7;</code>
      */
-    GNSS_SampleOrBuilder getGnssDataOrBuilder(
+    com.openpositioning.PositionMe.Traj.GNSS_SampleOrBuilder getGnssDataOrBuilder(
         int index);
 
     /**
      * <code>repeated .WiFi_Sample wifi_data = 8;</code>
      */
-    java.util.List<WiFi_Sample>
+    java.util.List<com.openpositioning.PositionMe.Traj.WiFi_Sample> 
         getWifiDataList();
     /**
      * <code>repeated .WiFi_Sample wifi_data = 8;</code>
      */
-    WiFi_Sample getWifiData(int index);
+    com.openpositioning.PositionMe.Traj.WiFi_Sample getWifiData(int index);
     /**
      * <code>repeated .WiFi_Sample wifi_data = 8;</code>
      */
@@ -186,23 +189,23 @@ GNSS_SampleOrBuilder getGnssDataOrBuilder(
     /**
      * <code>repeated .WiFi_Sample wifi_data = 8;</code>
      */
-    java.util.List<? extends WiFi_SampleOrBuilder>
+    java.util.List<? extends com.openpositioning.PositionMe.Traj.WiFi_SampleOrBuilder> 
         getWifiDataOrBuilderList();
     /**
      * <code>repeated .WiFi_Sample wifi_data = 8;</code>
      */
-    WiFi_SampleOrBuilder getWifiDataOrBuilder(
+    com.openpositioning.PositionMe.Traj.WiFi_SampleOrBuilder getWifiDataOrBuilder(
         int index);
 
     /**
      * <code>repeated .AP_Data aps_data = 9;</code>
      */
-    java.util.List<AP_Data>
+    java.util.List<com.openpositioning.PositionMe.Traj.AP_Data> 
         getApsDataList();
     /**
      * <code>repeated .AP_Data aps_data = 9;</code>
      */
-    AP_Data getApsData(int index);
+    com.openpositioning.PositionMe.Traj.AP_Data getApsData(int index);
     /**
      * <code>repeated .AP_Data aps_data = 9;</code>
      */
@@ -210,12 +213,12 @@ WiFi_SampleOrBuilder getWifiDataOrBuilder(
     /**
      * <code>repeated .AP_Data aps_data = 9;</code>
      */
-    java.util.List<? extends AP_DataOrBuilder>
+    java.util.List<? extends com.openpositioning.PositionMe.Traj.AP_DataOrBuilder> 
         getApsDataOrBuilderList();
     /**
      * <code>repeated .AP_Data aps_data = 9;</code>
      */
-    AP_DataOrBuilder getApsDataOrBuilder(
+    com.openpositioning.PositionMe.Traj.AP_DataOrBuilder getApsDataOrBuilder(
         int index);
 
     /**
@@ -236,7 +239,7 @@ AP_DataOrBuilder getApsDataOrBuilder(
     /**
      * <code>optional string data_identifier = 11;</code>
      */
-    String getDataIdentifier();
+    java.lang.String getDataIdentifier();
     /**
      * <code>optional string data_identifier = 11;</code>
      */
@@ -250,11 +253,11 @@ AP_DataOrBuilder getApsDataOrBuilder(
     /**
      * <code>optional .Sensor_Info accelerometer_info = 12;</code>
      */
-    Sensor_Info getAccelerometerInfo();
+    com.openpositioning.PositionMe.Traj.Sensor_Info getAccelerometerInfo();
     /**
      * <code>optional .Sensor_Info accelerometer_info = 12;</code>
      */
-    Sensor_InfoOrBuilder getAccelerometerInfoOrBuilder();
+    com.openpositioning.PositionMe.Traj.Sensor_InfoOrBuilder getAccelerometerInfoOrBuilder();
 
     /**
      * <code>optional .Sensor_Info gyroscope_info = 13;</code>
@@ -263,11 +266,11 @@ AP_DataOrBuilder getApsDataOrBuilder(
     /**
      * <code>optional .Sensor_Info gyroscope_info = 13;</code>
      */
-    Sensor_Info getGyroscopeInfo();
+    com.openpositioning.PositionMe.Traj.Sensor_Info getGyroscopeInfo();
     /**
      * <code>optional .Sensor_Info gyroscope_info = 13;</code>
      */
-    Sensor_InfoOrBuilder getGyroscopeInfoOrBuilder();
+    com.openpositioning.PositionMe.Traj.Sensor_InfoOrBuilder getGyroscopeInfoOrBuilder();
 
     /**
      * <code>optional .Sensor_Info rotation_vector_info = 14;</code>
@@ -276,11 +279,11 @@ AP_DataOrBuilder getApsDataOrBuilder(
     /**
      * <code>optional .Sensor_Info rotation_vector_info = 14;</code>
      */
-    Sensor_Info getRotationVectorInfo();
+    com.openpositioning.PositionMe.Traj.Sensor_Info getRotationVectorInfo();
     /**
      * <code>optional .Sensor_Info rotation_vector_info = 14;</code>
      */
-    Sensor_InfoOrBuilder getRotationVectorInfoOrBuilder();
+    com.openpositioning.PositionMe.Traj.Sensor_InfoOrBuilder getRotationVectorInfoOrBuilder();
 
     /**
      * <code>optional .Sensor_Info magnetometer_info = 15;</code>
@@ -289,11 +292,11 @@ AP_DataOrBuilder getApsDataOrBuilder(
     /**
      * <code>optional .Sensor_Info magnetometer_info = 15;</code>
      */
-    Sensor_Info getMagnetometerInfo();
+    com.openpositioning.PositionMe.Traj.Sensor_Info getMagnetometerInfo();
     /**
      * <code>optional .Sensor_Info magnetometer_info = 15;</code>
      */
-    Sensor_InfoOrBuilder getMagnetometerInfoOrBuilder();
+    com.openpositioning.PositionMe.Traj.Sensor_InfoOrBuilder getMagnetometerInfoOrBuilder();
 
     /**
      * <code>optional .Sensor_Info barometer_info = 16;</code>
@@ -302,11 +305,11 @@ AP_DataOrBuilder getApsDataOrBuilder(
     /**
      * <code>optional .Sensor_Info barometer_info = 16;</code>
      */
-    Sensor_Info getBarometerInfo();
+    com.openpositioning.PositionMe.Traj.Sensor_Info getBarometerInfo();
     /**
      * <code>optional .Sensor_Info barometer_info = 16;</code>
      */
-    Sensor_InfoOrBuilder getBarometerInfoOrBuilder();
+    com.openpositioning.PositionMe.Traj.Sensor_InfoOrBuilder getBarometerInfoOrBuilder();
 
     /**
      * <code>optional .Sensor_Info light_sensor_info = 17;</code>
@@ -315,11 +318,48 @@ AP_DataOrBuilder getApsDataOrBuilder(
     /**
      * <code>optional .Sensor_Info light_sensor_info = 17;</code>
      */
-    Sensor_Info getLightSensorInfo();
+    com.openpositioning.PositionMe.Traj.Sensor_Info getLightSensorInfo();
     /**
      * <code>optional .Sensor_Info light_sensor_info = 17;</code>
      */
-    Sensor_InfoOrBuilder getLightSensorInfoOrBuilder();
+    com.openpositioning.PositionMe.Traj.Sensor_InfoOrBuilder getLightSensorInfoOrBuilder();
+
+    /**
+     * <code>optional .Initial_Pos initial_pos = 18;</code>
+     */
+    boolean hasInitialPos();
+    /**
+     * <code>optional .Initial_Pos initial_pos = 18;</code>
+     */
+    com.openpositioning.PositionMe.Traj.Initial_Pos getInitialPos();
+    /**
+     * <code>optional .Initial_Pos initial_pos = 18;</code>
+     */
+    com.openpositioning.PositionMe.Traj.Initial_PosOrBuilder getInitialPosOrBuilder();
+
+    /**
+     * <code>repeated .Fused_Pos fused_pos = 19;</code>
+     */
+    java.util.List<com.openpositioning.PositionMe.Traj.Fused_Pos> 
+        getFusedPosList();
+    /**
+     * <code>repeated .Fused_Pos fused_pos = 19;</code>
+     */
+    com.openpositioning.PositionMe.Traj.Fused_Pos getFusedPos(int index);
+    /**
+     * <code>repeated .Fused_Pos fused_pos = 19;</code>
+     */
+    int getFusedPosCount();
+    /**
+     * <code>repeated .Fused_Pos fused_pos = 19;</code>
+     */
+    java.util.List<? extends com.openpositioning.PositionMe.Traj.Fused_PosOrBuilder> 
+        getFusedPosOrBuilderList();
+    /**
+     * <code>repeated .Fused_Pos fused_pos = 19;</code>
+     */
+    com.openpositioning.PositionMe.Traj.Fused_PosOrBuilder getFusedPosOrBuilder(
+        int index);
   }
   /**
    * Protobuf type {@code Trajectory}
@@ -344,9 +384,10 @@ private Trajectory() {
       apsData_ = java.util.Collections.emptyList();
       startTimestamp_ = 0L;
       dataIdentifier_ = "";
+      fusedPos_ = java.util.Collections.emptyList();
     }
 
-    @Override
+    @java.lang.Override
     public final com.google.protobuf.UnknownFieldSet
     getUnknownFields() {
       return com.google.protobuf.UnknownFieldSet.getDefaultInstance();
@@ -372,81 +413,81 @@ private Trajectory(
               break;
             }
             case 10: {
-              String s = input.readStringRequireUtf8();
+              java.lang.String s = input.readStringRequireUtf8();
 
               androidVersion_ = s;
               break;
             }
             case 18: {
               if (!((mutable_bitField0_ & 0x00000002) == 0x00000002)) {
-                imuData_ = new java.util.ArrayList<Motion_Sample>();
+                imuData_ = new java.util.ArrayList<com.openpositioning.PositionMe.Traj.Motion_Sample>();
                 mutable_bitField0_ |= 0x00000002;
               }
               imuData_.add(
-                  input.readMessage(Motion_Sample.parser(), extensionRegistry));
+                  input.readMessage(com.openpositioning.PositionMe.Traj.Motion_Sample.parser(), extensionRegistry));
               break;
             }
             case 26: {
               if (!((mutable_bitField0_ & 0x00000004) == 0x00000004)) {
-                pdrData_ = new java.util.ArrayList<Pdr_Sample>();
+                pdrData_ = new java.util.ArrayList<com.openpositioning.PositionMe.Traj.Pdr_Sample>();
                 mutable_bitField0_ |= 0x00000004;
               }
               pdrData_.add(
-                  input.readMessage(Pdr_Sample.parser(), extensionRegistry));
+                  input.readMessage(com.openpositioning.PositionMe.Traj.Pdr_Sample.parser(), extensionRegistry));
               break;
             }
             case 34: {
               if (!((mutable_bitField0_ & 0x00000008) == 0x00000008)) {
-                positionData_ = new java.util.ArrayList<Position_Sample>();
+                positionData_ = new java.util.ArrayList<com.openpositioning.PositionMe.Traj.Position_Sample>();
                 mutable_bitField0_ |= 0x00000008;
               }
               positionData_.add(
-                  input.readMessage(Position_Sample.parser(), extensionRegistry));
+                  input.readMessage(com.openpositioning.PositionMe.Traj.Position_Sample.parser(), extensionRegistry));
               break;
             }
             case 42: {
               if (!((mutable_bitField0_ & 0x00000010) == 0x00000010)) {
-                pressureData_ = new java.util.ArrayList<Pressure_Sample>();
+                pressureData_ = new java.util.ArrayList<com.openpositioning.PositionMe.Traj.Pressure_Sample>();
                 mutable_bitField0_ |= 0x00000010;
               }
               pressureData_.add(
-                  input.readMessage(Pressure_Sample.parser(), extensionRegistry));
+                  input.readMessage(com.openpositioning.PositionMe.Traj.Pressure_Sample.parser(), extensionRegistry));
               break;
             }
             case 50: {
               if (!((mutable_bitField0_ & 0x00000020) == 0x00000020)) {
-                lightData_ = new java.util.ArrayList<Light_Sample>();
+                lightData_ = new java.util.ArrayList<com.openpositioning.PositionMe.Traj.Light_Sample>();
                 mutable_bitField0_ |= 0x00000020;
               }
               lightData_.add(
-                  input.readMessage(Light_Sample.parser(), extensionRegistry));
+                  input.readMessage(com.openpositioning.PositionMe.Traj.Light_Sample.parser(), extensionRegistry));
               break;
             }
             case 58: {
               if (!((mutable_bitField0_ & 0x00000040) == 0x00000040)) {
-                gnssData_ = new java.util.ArrayList<GNSS_Sample>();
+                gnssData_ = new java.util.ArrayList<com.openpositioning.PositionMe.Traj.GNSS_Sample>();
                 mutable_bitField0_ |= 0x00000040;
               }
               gnssData_.add(
-                  input.readMessage(GNSS_Sample.parser(), extensionRegistry));
+                  input.readMessage(com.openpositioning.PositionMe.Traj.GNSS_Sample.parser(), extensionRegistry));
               break;
             }
             case 66: {
               if (!((mutable_bitField0_ & 0x00000080) == 0x00000080)) {
-                wifiData_ = new java.util.ArrayList<WiFi_Sample>();
+                wifiData_ = new java.util.ArrayList<com.openpositioning.PositionMe.Traj.WiFi_Sample>();
                 mutable_bitField0_ |= 0x00000080;
               }
               wifiData_.add(
-                  input.readMessage(WiFi_Sample.parser(), extensionRegistry));
+                  input.readMessage(com.openpositioning.PositionMe.Traj.WiFi_Sample.parser(), extensionRegistry));
               break;
             }
             case 74: {
               if (!((mutable_bitField0_ & 0x00000100) == 0x00000100)) {
-                apsData_ = new java.util.ArrayList<AP_Data>();
+                apsData_ = new java.util.ArrayList<com.openpositioning.PositionMe.Traj.AP_Data>();
                 mutable_bitField0_ |= 0x00000100;
               }
               apsData_.add(
-                  input.readMessage(AP_Data.parser(), extensionRegistry));
+                  input.readMessage(com.openpositioning.PositionMe.Traj.AP_Data.parser(), extensionRegistry));
               break;
             }
             case 80: {
@@ -455,17 +496,17 @@ private Trajectory(
               break;
             }
             case 90: {
-              String s = input.readStringRequireUtf8();
+              java.lang.String s = input.readStringRequireUtf8();
 
               dataIdentifier_ = s;
               break;
             }
             case 98: {
-              Sensor_Info.Builder subBuilder = null;
+              com.openpositioning.PositionMe.Traj.Sensor_Info.Builder subBuilder = null;
               if (accelerometerInfo_ != null) {
                 subBuilder = accelerometerInfo_.toBuilder();
               }
-              accelerometerInfo_ = input.readMessage(Sensor_Info.parser(), extensionRegistry);
+              accelerometerInfo_ = input.readMessage(com.openpositioning.PositionMe.Traj.Sensor_Info.parser(), extensionRegistry);
               if (subBuilder != null) {
                 subBuilder.mergeFrom(accelerometerInfo_);
                 accelerometerInfo_ = subBuilder.buildPartial();
@@ -474,11 +515,11 @@ private Trajectory(
               break;
             }
             case 106: {
-              Sensor_Info.Builder subBuilder = null;
+              com.openpositioning.PositionMe.Traj.Sensor_Info.Builder subBuilder = null;
               if (gyroscopeInfo_ != null) {
                 subBuilder = gyroscopeInfo_.toBuilder();
               }
-              gyroscopeInfo_ = input.readMessage(Sensor_Info.parser(), extensionRegistry);
+              gyroscopeInfo_ = input.readMessage(com.openpositioning.PositionMe.Traj.Sensor_Info.parser(), extensionRegistry);
               if (subBuilder != null) {
                 subBuilder.mergeFrom(gyroscopeInfo_);
                 gyroscopeInfo_ = subBuilder.buildPartial();
@@ -487,11 +528,11 @@ private Trajectory(
               break;
             }
             case 114: {
-              Sensor_Info.Builder subBuilder = null;
+              com.openpositioning.PositionMe.Traj.Sensor_Info.Builder subBuilder = null;
               if (rotationVectorInfo_ != null) {
                 subBuilder = rotationVectorInfo_.toBuilder();
               }
-              rotationVectorInfo_ = input.readMessage(Sensor_Info.parser(), extensionRegistry);
+              rotationVectorInfo_ = input.readMessage(com.openpositioning.PositionMe.Traj.Sensor_Info.parser(), extensionRegistry);
               if (subBuilder != null) {
                 subBuilder.mergeFrom(rotationVectorInfo_);
                 rotationVectorInfo_ = subBuilder.buildPartial();
@@ -500,11 +541,11 @@ private Trajectory(
               break;
             }
             case 122: {
-              Sensor_Info.Builder subBuilder = null;
+              com.openpositioning.PositionMe.Traj.Sensor_Info.Builder subBuilder = null;
               if (magnetometerInfo_ != null) {
                 subBuilder = magnetometerInfo_.toBuilder();
               }
-              magnetometerInfo_ = input.readMessage(Sensor_Info.parser(), extensionRegistry);
+              magnetometerInfo_ = input.readMessage(com.openpositioning.PositionMe.Traj.Sensor_Info.parser(), extensionRegistry);
               if (subBuilder != null) {
                 subBuilder.mergeFrom(magnetometerInfo_);
                 magnetometerInfo_ = subBuilder.buildPartial();
@@ -513,11 +554,11 @@ private Trajectory(
               break;
             }
             case 130: {
-              Sensor_Info.Builder subBuilder = null;
+              com.openpositioning.PositionMe.Traj.Sensor_Info.Builder subBuilder = null;
               if (barometerInfo_ != null) {
                 subBuilder = barometerInfo_.toBuilder();
               }
-              barometerInfo_ = input.readMessage(Sensor_Info.parser(), extensionRegistry);
+              barometerInfo_ = input.readMessage(com.openpositioning.PositionMe.Traj.Sensor_Info.parser(), extensionRegistry);
               if (subBuilder != null) {
                 subBuilder.mergeFrom(barometerInfo_);
                 barometerInfo_ = subBuilder.buildPartial();
@@ -526,11 +567,11 @@ private Trajectory(
               break;
             }
             case 138: {
-              Sensor_Info.Builder subBuilder = null;
+              com.openpositioning.PositionMe.Traj.Sensor_Info.Builder subBuilder = null;
               if (lightSensorInfo_ != null) {
                 subBuilder = lightSensorInfo_.toBuilder();
               }
-              lightSensorInfo_ = input.readMessage(Sensor_Info.parser(), extensionRegistry);
+              lightSensorInfo_ = input.readMessage(com.openpositioning.PositionMe.Traj.Sensor_Info.parser(), extensionRegistry);
               if (subBuilder != null) {
                 subBuilder.mergeFrom(lightSensorInfo_);
                 lightSensorInfo_ = subBuilder.buildPartial();
@@ -538,6 +579,28 @@ private Trajectory(
 
               break;
             }
+            case 146: {
+              com.openpositioning.PositionMe.Traj.Initial_Pos.Builder subBuilder = null;
+              if (initialPos_ != null) {
+                subBuilder = initialPos_.toBuilder();
+              }
+              initialPos_ = input.readMessage(com.openpositioning.PositionMe.Traj.Initial_Pos.parser(), extensionRegistry);
+              if (subBuilder != null) {
+                subBuilder.mergeFrom(initialPos_);
+                initialPos_ = subBuilder.buildPartial();
+              }
+
+              break;
+            }
+            case 154: {
+              if (!((mutable_bitField0_ & 0x00040000) == 0x00040000)) {
+                fusedPos_ = new java.util.ArrayList<com.openpositioning.PositionMe.Traj.Fused_Pos>();
+                mutable_bitField0_ |= 0x00040000;
+              }
+              fusedPos_.add(
+                  input.readMessage(com.openpositioning.PositionMe.Traj.Fused_Pos.parser(), extensionRegistry));
+              break;
+            }
           }
         }
       } catch (com.google.protobuf.InvalidProtocolBufferException e) {
@@ -570,35 +633,38 @@ private Trajectory(
         if (((mutable_bitField0_ & 0x00000100) == 0x00000100)) {
           apsData_ = java.util.Collections.unmodifiableList(apsData_);
         }
+        if (((mutable_bitField0_ & 0x00040000) == 0x00040000)) {
+          fusedPos_ = java.util.Collections.unmodifiableList(fusedPos_);
+        }
         makeExtensionsImmutable();
       }
     }
     public static final com.google.protobuf.Descriptors.Descriptor
         getDescriptor() {
-      return Traj.internal_static_Trajectory_descriptor;
+      return com.openpositioning.PositionMe.Traj.internal_static_Trajectory_descriptor;
     }
 
     protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
         internalGetFieldAccessorTable() {
-      return Traj.internal_static_Trajectory_fieldAccessorTable
+      return com.openpositioning.PositionMe.Traj.internal_static_Trajectory_fieldAccessorTable
           .ensureFieldAccessorsInitialized(
-              Trajectory.class, Builder.class);
+              com.openpositioning.PositionMe.Traj.Trajectory.class, com.openpositioning.PositionMe.Traj.Trajectory.Builder.class);
     }
 
     private int bitField0_;
     public static final int ANDROID_VERSION_FIELD_NUMBER = 1;
-    private volatile Object androidVersion_;
+    private volatile java.lang.Object androidVersion_;
     /**
      * <code>optional string android_version = 1;</code>
      */
-    public String getAndroidVersion() {
-      Object ref = androidVersion_;
-      if (ref instanceof String) {
-        return (String) ref;
+    public java.lang.String getAndroidVersion() {
+      java.lang.Object ref = androidVersion_;
+      if (ref instanceof java.lang.String) {
+        return (java.lang.String) ref;
       } else {
         com.google.protobuf.ByteString bs = 
             (com.google.protobuf.ByteString) ref;
-        String s = bs.toStringUtf8();
+        java.lang.String s = bs.toStringUtf8();
         androidVersion_ = s;
         return s;
       }
@@ -608,11 +674,11 @@ public String getAndroidVersion() {
      */
     public com.google.protobuf.ByteString
         getAndroidVersionBytes() {
-      Object ref = androidVersion_;
-      if (ref instanceof String) {
+      java.lang.Object ref = androidVersion_;
+      if (ref instanceof java.lang.String) {
         com.google.protobuf.ByteString b = 
             com.google.protobuf.ByteString.copyFromUtf8(
-                (String) ref);
+                (java.lang.String) ref);
         androidVersion_ = b;
         return b;
       } else {
@@ -621,17 +687,17 @@ public String getAndroidVersion() {
     }
 
     public static final int IMU_DATA_FIELD_NUMBER = 2;
-    private java.util.List<Motion_Sample> imuData_;
+    private java.util.List<com.openpositioning.PositionMe.Traj.Motion_Sample> imuData_;
     /**
      * <code>repeated .Motion_Sample imu_data = 2;</code>
      */
-    public java.util.List<Motion_Sample> getImuDataList() {
+    public java.util.List<com.openpositioning.PositionMe.Traj.Motion_Sample> getImuDataList() {
       return imuData_;
     }
     /**
      * <code>repeated .Motion_Sample imu_data = 2;</code>
      */
-    public java.util.List<? extends Motion_SampleOrBuilder>
+    public java.util.List<? extends com.openpositioning.PositionMe.Traj.Motion_SampleOrBuilder> 
         getImuDataOrBuilderList() {
       return imuData_;
     }
@@ -644,29 +710,29 @@ public int getImuDataCount() {
     /**
      * <code>repeated .Motion_Sample imu_data = 2;</code>
      */
-    public Motion_Sample getImuData(int index) {
+    public com.openpositioning.PositionMe.Traj.Motion_Sample getImuData(int index) {
       return imuData_.get(index);
     }
     /**
      * <code>repeated .Motion_Sample imu_data = 2;</code>
      */
-    public Motion_SampleOrBuilder getImuDataOrBuilder(
+    public com.openpositioning.PositionMe.Traj.Motion_SampleOrBuilder getImuDataOrBuilder(
         int index) {
       return imuData_.get(index);
     }
 
     public static final int PDR_DATA_FIELD_NUMBER = 3;
-    private java.util.List<Pdr_Sample> pdrData_;
+    private java.util.List<com.openpositioning.PositionMe.Traj.Pdr_Sample> pdrData_;
     /**
      * <code>repeated .Pdr_Sample pdr_data = 3;</code>
      */
-    public java.util.List<Pdr_Sample> getPdrDataList() {
+    public java.util.List<com.openpositioning.PositionMe.Traj.Pdr_Sample> getPdrDataList() {
       return pdrData_;
     }
     /**
      * <code>repeated .Pdr_Sample pdr_data = 3;</code>
      */
-    public java.util.List<? extends Pdr_SampleOrBuilder>
+    public java.util.List<? extends com.openpositioning.PositionMe.Traj.Pdr_SampleOrBuilder> 
         getPdrDataOrBuilderList() {
       return pdrData_;
     }
@@ -679,29 +745,29 @@ public int getPdrDataCount() {
     /**
      * <code>repeated .Pdr_Sample pdr_data = 3;</code>
      */
-    public Pdr_Sample getPdrData(int index) {
+    public com.openpositioning.PositionMe.Traj.Pdr_Sample getPdrData(int index) {
       return pdrData_.get(index);
     }
     /**
      * <code>repeated .Pdr_Sample pdr_data = 3;</code>
      */
-    public Pdr_SampleOrBuilder getPdrDataOrBuilder(
+    public com.openpositioning.PositionMe.Traj.Pdr_SampleOrBuilder getPdrDataOrBuilder(
         int index) {
       return pdrData_.get(index);
     }
 
     public static final int POSITION_DATA_FIELD_NUMBER = 4;
-    private java.util.List<Position_Sample> positionData_;
+    private java.util.List<com.openpositioning.PositionMe.Traj.Position_Sample> positionData_;
     /**
      * <code>repeated .Position_Sample position_data = 4;</code>
      */
-    public java.util.List<Position_Sample> getPositionDataList() {
+    public java.util.List<com.openpositioning.PositionMe.Traj.Position_Sample> getPositionDataList() {
       return positionData_;
     }
     /**
      * <code>repeated .Position_Sample position_data = 4;</code>
      */
-    public java.util.List<? extends Position_SampleOrBuilder>
+    public java.util.List<? extends com.openpositioning.PositionMe.Traj.Position_SampleOrBuilder> 
         getPositionDataOrBuilderList() {
       return positionData_;
     }
@@ -714,29 +780,29 @@ public int getPositionDataCount() {
     /**
      * <code>repeated .Position_Sample position_data = 4;</code>
      */
-    public Position_Sample getPositionData(int index) {
+    public com.openpositioning.PositionMe.Traj.Position_Sample getPositionData(int index) {
       return positionData_.get(index);
     }
     /**
      * <code>repeated .Position_Sample position_data = 4;</code>
      */
-    public Position_SampleOrBuilder getPositionDataOrBuilder(
+    public com.openpositioning.PositionMe.Traj.Position_SampleOrBuilder getPositionDataOrBuilder(
         int index) {
       return positionData_.get(index);
     }
 
     public static final int PRESSURE_DATA_FIELD_NUMBER = 5;
-    private java.util.List<Pressure_Sample> pressureData_;
+    private java.util.List<com.openpositioning.PositionMe.Traj.Pressure_Sample> pressureData_;
     /**
      * <code>repeated .Pressure_Sample pressure_data = 5;</code>
      */
-    public java.util.List<Pressure_Sample> getPressureDataList() {
+    public java.util.List<com.openpositioning.PositionMe.Traj.Pressure_Sample> getPressureDataList() {
       return pressureData_;
     }
     /**
      * <code>repeated .Pressure_Sample pressure_data = 5;</code>
      */
-    public java.util.List<? extends Pressure_SampleOrBuilder>
+    public java.util.List<? extends com.openpositioning.PositionMe.Traj.Pressure_SampleOrBuilder> 
         getPressureDataOrBuilderList() {
       return pressureData_;
     }
@@ -749,29 +815,29 @@ public int getPressureDataCount() {
     /**
      * <code>repeated .Pressure_Sample pressure_data = 5;</code>
      */
-    public Pressure_Sample getPressureData(int index) {
+    public com.openpositioning.PositionMe.Traj.Pressure_Sample getPressureData(int index) {
       return pressureData_.get(index);
     }
     /**
      * <code>repeated .Pressure_Sample pressure_data = 5;</code>
      */
-    public Pressure_SampleOrBuilder getPressureDataOrBuilder(
+    public com.openpositioning.PositionMe.Traj.Pressure_SampleOrBuilder getPressureDataOrBuilder(
         int index) {
       return pressureData_.get(index);
     }
 
     public static final int LIGHT_DATA_FIELD_NUMBER = 6;
-    private java.util.List<Light_Sample> lightData_;
+    private java.util.List<com.openpositioning.PositionMe.Traj.Light_Sample> lightData_;
     /**
      * <code>repeated .Light_Sample light_data = 6;</code>
      */
-    public java.util.List<Light_Sample> getLightDataList() {
+    public java.util.List<com.openpositioning.PositionMe.Traj.Light_Sample> getLightDataList() {
       return lightData_;
     }
     /**
      * <code>repeated .Light_Sample light_data = 6;</code>
      */
-    public java.util.List<? extends Light_SampleOrBuilder>
+    public java.util.List<? extends com.openpositioning.PositionMe.Traj.Light_SampleOrBuilder> 
         getLightDataOrBuilderList() {
       return lightData_;
     }
@@ -784,29 +850,29 @@ public int getLightDataCount() {
     /**
      * <code>repeated .Light_Sample light_data = 6;</code>
      */
-    public Light_Sample getLightData(int index) {
+    public com.openpositioning.PositionMe.Traj.Light_Sample getLightData(int index) {
       return lightData_.get(index);
     }
     /**
      * <code>repeated .Light_Sample light_data = 6;</code>
      */
-    public Light_SampleOrBuilder getLightDataOrBuilder(
+    public com.openpositioning.PositionMe.Traj.Light_SampleOrBuilder getLightDataOrBuilder(
         int index) {
       return lightData_.get(index);
     }
 
     public static final int GNSS_DATA_FIELD_NUMBER = 7;
-    private java.util.List<GNSS_Sample> gnssData_;
+    private java.util.List<com.openpositioning.PositionMe.Traj.GNSS_Sample> gnssData_;
     /**
      * <code>repeated .GNSS_Sample gnss_data = 7;</code>
      */
-    public java.util.List<GNSS_Sample> getGnssDataList() {
+    public java.util.List<com.openpositioning.PositionMe.Traj.GNSS_Sample> getGnssDataList() {
       return gnssData_;
     }
     /**
      * <code>repeated .GNSS_Sample gnss_data = 7;</code>
      */
-    public java.util.List<? extends GNSS_SampleOrBuilder>
+    public java.util.List<? extends com.openpositioning.PositionMe.Traj.GNSS_SampleOrBuilder> 
         getGnssDataOrBuilderList() {
       return gnssData_;
     }
@@ -819,29 +885,29 @@ public int getGnssDataCount() {
     /**
      * <code>repeated .GNSS_Sample gnss_data = 7;</code>
      */
-    public GNSS_Sample getGnssData(int index) {
+    public com.openpositioning.PositionMe.Traj.GNSS_Sample getGnssData(int index) {
       return gnssData_.get(index);
     }
     /**
      * <code>repeated .GNSS_Sample gnss_data = 7;</code>
      */
-    public GNSS_SampleOrBuilder getGnssDataOrBuilder(
+    public com.openpositioning.PositionMe.Traj.GNSS_SampleOrBuilder getGnssDataOrBuilder(
         int index) {
       return gnssData_.get(index);
     }
 
     public static final int WIFI_DATA_FIELD_NUMBER = 8;
-    private java.util.List<WiFi_Sample> wifiData_;
+    private java.util.List<com.openpositioning.PositionMe.Traj.WiFi_Sample> wifiData_;
     /**
      * <code>repeated .WiFi_Sample wifi_data = 8;</code>
      */
-    public java.util.List<WiFi_Sample> getWifiDataList() {
+    public java.util.List<com.openpositioning.PositionMe.Traj.WiFi_Sample> getWifiDataList() {
       return wifiData_;
     }
     /**
      * <code>repeated .WiFi_Sample wifi_data = 8;</code>
      */
-    public java.util.List<? extends WiFi_SampleOrBuilder>
+    public java.util.List<? extends com.openpositioning.PositionMe.Traj.WiFi_SampleOrBuilder> 
         getWifiDataOrBuilderList() {
       return wifiData_;
     }
@@ -854,29 +920,29 @@ public int getWifiDataCount() {
     /**
      * <code>repeated .WiFi_Sample wifi_data = 8;</code>
      */
-    public WiFi_Sample getWifiData(int index) {
+    public com.openpositioning.PositionMe.Traj.WiFi_Sample getWifiData(int index) {
       return wifiData_.get(index);
     }
     /**
      * <code>repeated .WiFi_Sample wifi_data = 8;</code>
      */
-    public WiFi_SampleOrBuilder getWifiDataOrBuilder(
+    public com.openpositioning.PositionMe.Traj.WiFi_SampleOrBuilder getWifiDataOrBuilder(
         int index) {
       return wifiData_.get(index);
     }
 
     public static final int APS_DATA_FIELD_NUMBER = 9;
-    private java.util.List<AP_Data> apsData_;
+    private java.util.List<com.openpositioning.PositionMe.Traj.AP_Data> apsData_;
     /**
      * <code>repeated .AP_Data aps_data = 9;</code>
      */
-    public java.util.List<AP_Data> getApsDataList() {
+    public java.util.List<com.openpositioning.PositionMe.Traj.AP_Data> getApsDataList() {
       return apsData_;
     }
     /**
      * <code>repeated .AP_Data aps_data = 9;</code>
      */
-    public java.util.List<? extends AP_DataOrBuilder>
+    public java.util.List<? extends com.openpositioning.PositionMe.Traj.AP_DataOrBuilder> 
         getApsDataOrBuilderList() {
       return apsData_;
     }
@@ -889,13 +955,13 @@ public int getApsDataCount() {
     /**
      * <code>repeated .AP_Data aps_data = 9;</code>
      */
-    public AP_Data getApsData(int index) {
+    public com.openpositioning.PositionMe.Traj.AP_Data getApsData(int index) {
       return apsData_.get(index);
     }
     /**
      * <code>repeated .AP_Data aps_data = 9;</code>
      */
-    public AP_DataOrBuilder getApsDataOrBuilder(
+    public com.openpositioning.PositionMe.Traj.AP_DataOrBuilder getApsDataOrBuilder(
         int index) {
       return apsData_.get(index);
     }
@@ -920,18 +986,18 @@ public long getStartTimestamp() {
     }
 
     public static final int DATA_IDENTIFIER_FIELD_NUMBER = 11;
-    private volatile Object dataIdentifier_;
+    private volatile java.lang.Object dataIdentifier_;
     /**
      * <code>optional string data_identifier = 11;</code>
      */
-    public String getDataIdentifier() {
-      Object ref = dataIdentifier_;
-      if (ref instanceof String) {
-        return (String) ref;
+    public java.lang.String getDataIdentifier() {
+      java.lang.Object ref = dataIdentifier_;
+      if (ref instanceof java.lang.String) {
+        return (java.lang.String) ref;
       } else {
         com.google.protobuf.ByteString bs = 
             (com.google.protobuf.ByteString) ref;
-        String s = bs.toStringUtf8();
+        java.lang.String s = bs.toStringUtf8();
         dataIdentifier_ = s;
         return s;
       }
@@ -941,11 +1007,11 @@ public String getDataIdentifier() {
      */
     public com.google.protobuf.ByteString
         getDataIdentifierBytes() {
-      Object ref = dataIdentifier_;
-      if (ref instanceof String) {
+      java.lang.Object ref = dataIdentifier_;
+      if (ref instanceof java.lang.String) {
         com.google.protobuf.ByteString b = 
             com.google.protobuf.ByteString.copyFromUtf8(
-                (String) ref);
+                (java.lang.String) ref);
         dataIdentifier_ = b;
         return b;
       } else {
@@ -954,7 +1020,7 @@ public String getDataIdentifier() {
     }
 
     public static final int ACCELEROMETER_INFO_FIELD_NUMBER = 12;
-    private Sensor_Info accelerometerInfo_;
+    private com.openpositioning.PositionMe.Traj.Sensor_Info accelerometerInfo_;
     /**
      * <code>optional .Sensor_Info accelerometer_info = 12;</code>
      */
@@ -964,18 +1030,18 @@ public boolean hasAccelerometerInfo() {
     /**
      * <code>optional .Sensor_Info accelerometer_info = 12;</code>
      */
-    public Sensor_Info getAccelerometerInfo() {
-      return accelerometerInfo_ == null ? Sensor_Info.getDefaultInstance() : accelerometerInfo_;
+    public com.openpositioning.PositionMe.Traj.Sensor_Info getAccelerometerInfo() {
+      return accelerometerInfo_ == null ? com.openpositioning.PositionMe.Traj.Sensor_Info.getDefaultInstance() : accelerometerInfo_;
     }
     /**
      * <code>optional .Sensor_Info accelerometer_info = 12;</code>
      */
-    public Sensor_InfoOrBuilder getAccelerometerInfoOrBuilder() {
+    public com.openpositioning.PositionMe.Traj.Sensor_InfoOrBuilder getAccelerometerInfoOrBuilder() {
       return getAccelerometerInfo();
     }
 
     public static final int GYROSCOPE_INFO_FIELD_NUMBER = 13;
-    private Sensor_Info gyroscopeInfo_;
+    private com.openpositioning.PositionMe.Traj.Sensor_Info gyroscopeInfo_;
     /**
      * <code>optional .Sensor_Info gyroscope_info = 13;</code>
      */
@@ -985,18 +1051,18 @@ public boolean hasGyroscopeInfo() {
     /**
      * <code>optional .Sensor_Info gyroscope_info = 13;</code>
      */
-    public Sensor_Info getGyroscopeInfo() {
-      return gyroscopeInfo_ == null ? Sensor_Info.getDefaultInstance() : gyroscopeInfo_;
+    public com.openpositioning.PositionMe.Traj.Sensor_Info getGyroscopeInfo() {
+      return gyroscopeInfo_ == null ? com.openpositioning.PositionMe.Traj.Sensor_Info.getDefaultInstance() : gyroscopeInfo_;
     }
     /**
      * <code>optional .Sensor_Info gyroscope_info = 13;</code>
      */
-    public Sensor_InfoOrBuilder getGyroscopeInfoOrBuilder() {
+    public com.openpositioning.PositionMe.Traj.Sensor_InfoOrBuilder getGyroscopeInfoOrBuilder() {
       return getGyroscopeInfo();
     }
 
     public static final int ROTATION_VECTOR_INFO_FIELD_NUMBER = 14;
-    private Sensor_Info rotationVectorInfo_;
+    private com.openpositioning.PositionMe.Traj.Sensor_Info rotationVectorInfo_;
     /**
      * <code>optional .Sensor_Info rotation_vector_info = 14;</code>
      */
@@ -1006,18 +1072,18 @@ public boolean hasRotationVectorInfo() {
     /**
      * <code>optional .Sensor_Info rotation_vector_info = 14;</code>
      */
-    public Sensor_Info getRotationVectorInfo() {
-      return rotationVectorInfo_ == null ? Sensor_Info.getDefaultInstance() : rotationVectorInfo_;
+    public com.openpositioning.PositionMe.Traj.Sensor_Info getRotationVectorInfo() {
+      return rotationVectorInfo_ == null ? com.openpositioning.PositionMe.Traj.Sensor_Info.getDefaultInstance() : rotationVectorInfo_;
     }
     /**
      * <code>optional .Sensor_Info rotation_vector_info = 14;</code>
      */
-    public Sensor_InfoOrBuilder getRotationVectorInfoOrBuilder() {
+    public com.openpositioning.PositionMe.Traj.Sensor_InfoOrBuilder getRotationVectorInfoOrBuilder() {
       return getRotationVectorInfo();
     }
 
     public static final int MAGNETOMETER_INFO_FIELD_NUMBER = 15;
-    private Sensor_Info magnetometerInfo_;
+    private com.openpositioning.PositionMe.Traj.Sensor_Info magnetometerInfo_;
     /**
      * <code>optional .Sensor_Info magnetometer_info = 15;</code>
      */
@@ -1027,18 +1093,18 @@ public boolean hasMagnetometerInfo() {
     /**
      * <code>optional .Sensor_Info magnetometer_info = 15;</code>
      */
-    public Sensor_Info getMagnetometerInfo() {
-      return magnetometerInfo_ == null ? Sensor_Info.getDefaultInstance() : magnetometerInfo_;
+    public com.openpositioning.PositionMe.Traj.Sensor_Info getMagnetometerInfo() {
+      return magnetometerInfo_ == null ? com.openpositioning.PositionMe.Traj.Sensor_Info.getDefaultInstance() : magnetometerInfo_;
     }
     /**
      * <code>optional .Sensor_Info magnetometer_info = 15;</code>
      */
-    public Sensor_InfoOrBuilder getMagnetometerInfoOrBuilder() {
+    public com.openpositioning.PositionMe.Traj.Sensor_InfoOrBuilder getMagnetometerInfoOrBuilder() {
       return getMagnetometerInfo();
     }
 
     public static final int BAROMETER_INFO_FIELD_NUMBER = 16;
-    private Sensor_Info barometerInfo_;
+    private com.openpositioning.PositionMe.Traj.Sensor_Info barometerInfo_;
     /**
      * <code>optional .Sensor_Info barometer_info = 16;</code>
      */
@@ -1048,18 +1114,18 @@ public boolean hasBarometerInfo() {
     /**
      * <code>optional .Sensor_Info barometer_info = 16;</code>
      */
-    public Sensor_Info getBarometerInfo() {
-      return barometerInfo_ == null ? Sensor_Info.getDefaultInstance() : barometerInfo_;
+    public com.openpositioning.PositionMe.Traj.Sensor_Info getBarometerInfo() {
+      return barometerInfo_ == null ? com.openpositioning.PositionMe.Traj.Sensor_Info.getDefaultInstance() : barometerInfo_;
     }
     /**
      * <code>optional .Sensor_Info barometer_info = 16;</code>
      */
-    public Sensor_InfoOrBuilder getBarometerInfoOrBuilder() {
+    public com.openpositioning.PositionMe.Traj.Sensor_InfoOrBuilder getBarometerInfoOrBuilder() {
       return getBarometerInfo();
     }
 
     public static final int LIGHT_SENSOR_INFO_FIELD_NUMBER = 17;
-    private Sensor_Info lightSensorInfo_;
+    private com.openpositioning.PositionMe.Traj.Sensor_Info lightSensorInfo_;
     /**
      * <code>optional .Sensor_Info light_sensor_info = 17;</code>
      */
@@ -1069,16 +1135,72 @@ public boolean hasLightSensorInfo() {
     /**
      * <code>optional .Sensor_Info light_sensor_info = 17;</code>
      */
-    public Sensor_Info getLightSensorInfo() {
-      return lightSensorInfo_ == null ? Sensor_Info.getDefaultInstance() : lightSensorInfo_;
+    public com.openpositioning.PositionMe.Traj.Sensor_Info getLightSensorInfo() {
+      return lightSensorInfo_ == null ? com.openpositioning.PositionMe.Traj.Sensor_Info.getDefaultInstance() : lightSensorInfo_;
     }
     /**
      * <code>optional .Sensor_Info light_sensor_info = 17;</code>
      */
-    public Sensor_InfoOrBuilder getLightSensorInfoOrBuilder() {
+    public com.openpositioning.PositionMe.Traj.Sensor_InfoOrBuilder getLightSensorInfoOrBuilder() {
       return getLightSensorInfo();
     }
 
+    public static final int INITIAL_POS_FIELD_NUMBER = 18;
+    private com.openpositioning.PositionMe.Traj.Initial_Pos initialPos_;
+    /**
+     * <code>optional .Initial_Pos initial_pos = 18;</code>
+     */
+    public boolean hasInitialPos() {
+      return initialPos_ != null;
+    }
+    /**
+     * <code>optional .Initial_Pos initial_pos = 18;</code>
+     */
+    public com.openpositioning.PositionMe.Traj.Initial_Pos getInitialPos() {
+      return initialPos_ == null ? com.openpositioning.PositionMe.Traj.Initial_Pos.getDefaultInstance() : initialPos_;
+    }
+    /**
+     * <code>optional .Initial_Pos initial_pos = 18;</code>
+     */
+    public com.openpositioning.PositionMe.Traj.Initial_PosOrBuilder getInitialPosOrBuilder() {
+      return getInitialPos();
+    }
+
+    public static final int FUSED_POS_FIELD_NUMBER = 19;
+    private java.util.List<com.openpositioning.PositionMe.Traj.Fused_Pos> fusedPos_;
+    /**
+     * <code>repeated .Fused_Pos fused_pos = 19;</code>
+     */
+    public java.util.List<com.openpositioning.PositionMe.Traj.Fused_Pos> getFusedPosList() {
+      return fusedPos_;
+    }
+    /**
+     * <code>repeated .Fused_Pos fused_pos = 19;</code>
+     */
+    public java.util.List<? extends com.openpositioning.PositionMe.Traj.Fused_PosOrBuilder> 
+        getFusedPosOrBuilderList() {
+      return fusedPos_;
+    }
+    /**
+     * <code>repeated .Fused_Pos fused_pos = 19;</code>
+     */
+    public int getFusedPosCount() {
+      return fusedPos_.size();
+    }
+    /**
+     * <code>repeated .Fused_Pos fused_pos = 19;</code>
+     */
+    public com.openpositioning.PositionMe.Traj.Fused_Pos getFusedPos(int index) {
+      return fusedPos_.get(index);
+    }
+    /**
+     * <code>repeated .Fused_Pos fused_pos = 19;</code>
+     */
+    public com.openpositioning.PositionMe.Traj.Fused_PosOrBuilder getFusedPosOrBuilder(
+        int index) {
+      return fusedPos_.get(index);
+    }
+
     private byte memoizedIsInitialized = -1;
     public final boolean isInitialized() {
       byte isInitialized = memoizedIsInitialized;
@@ -1142,6 +1264,12 @@ public void writeTo(com.google.protobuf.CodedOutputStream output)
       if (lightSensorInfo_ != null) {
         output.writeMessage(17, getLightSensorInfo());
       }
+      if (initialPos_ != null) {
+        output.writeMessage(18, getInitialPos());
+      }
+      for (int i = 0; i < fusedPos_.size(); i++) {
+        output.writeMessage(19, fusedPos_.get(i));
+      }
     }
 
     public int getSerializedSize() {
@@ -1215,20 +1343,28 @@ public int getSerializedSize() {
         size += com.google.protobuf.CodedOutputStream
           .computeMessageSize(17, getLightSensorInfo());
       }
+      if (initialPos_ != null) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeMessageSize(18, getInitialPos());
+      }
+      for (int i = 0; i < fusedPos_.size(); i++) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeMessageSize(19, fusedPos_.get(i));
+      }
       memoizedSize = size;
       return size;
     }
 
     private static final long serialVersionUID = 0L;
-    @Override
-    public boolean equals(final Object obj) {
+    @java.lang.Override
+    public boolean equals(final java.lang.Object obj) {
       if (obj == this) {
        return true;
       }
-      if (!(obj instanceof Trajectory)) {
+      if (!(obj instanceof com.openpositioning.PositionMe.Traj.Trajectory)) {
         return super.equals(obj);
       }
-      Trajectory other = (Trajectory) obj;
+      com.openpositioning.PositionMe.Traj.Trajectory other = (com.openpositioning.PositionMe.Traj.Trajectory) obj;
 
       boolean result = true;
       result = result && getAndroidVersion()
@@ -1283,10 +1419,17 @@ public boolean equals(final Object obj) {
         result = result && getLightSensorInfo()
             .equals(other.getLightSensorInfo());
       }
+      result = result && (hasInitialPos() == other.hasInitialPos());
+      if (hasInitialPos()) {
+        result = result && getInitialPos()
+            .equals(other.getInitialPos());
+      }
+      result = result && getFusedPosList()
+          .equals(other.getFusedPosList());
       return result;
     }
 
-    @Override
+    @java.lang.Override
     public int hashCode() {
       if (memoizedHashCode != 0) {
         return memoizedHashCode;
@@ -1356,63 +1499,71 @@ public int hashCode() {
         hash = (37 * hash) + LIGHT_SENSOR_INFO_FIELD_NUMBER;
         hash = (53 * hash) + getLightSensorInfo().hashCode();
       }
+      if (hasInitialPos()) {
+        hash = (37 * hash) + INITIAL_POS_FIELD_NUMBER;
+        hash = (53 * hash) + getInitialPos().hashCode();
+      }
+      if (getFusedPosCount() > 0) {
+        hash = (37 * hash) + FUSED_POS_FIELD_NUMBER;
+        hash = (53 * hash) + getFusedPosList().hashCode();
+      }
       hash = (29 * hash) + unknownFields.hashCode();
       memoizedHashCode = hash;
       return hash;
     }
 
-    public static Trajectory parseFrom(
+    public static com.openpositioning.PositionMe.Traj.Trajectory parseFrom(
         com.google.protobuf.ByteString data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static Trajectory parseFrom(
+    public static com.openpositioning.PositionMe.Traj.Trajectory parseFrom(
         com.google.protobuf.ByteString data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static Trajectory parseFrom(byte[] data)
+    public static com.openpositioning.PositionMe.Traj.Trajectory parseFrom(byte[] data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static Trajectory parseFrom(
+    public static com.openpositioning.PositionMe.Traj.Trajectory parseFrom(
         byte[] data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static Trajectory parseFrom(java.io.InputStream input)
+    public static com.openpositioning.PositionMe.Traj.Trajectory parseFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input);
     }
-    public static Trajectory parseFrom(
+    public static com.openpositioning.PositionMe.Traj.Trajectory parseFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input, extensionRegistry);
     }
-    public static Trajectory parseDelimitedFrom(java.io.InputStream input)
+    public static com.openpositioning.PositionMe.Traj.Trajectory parseDelimitedFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseDelimitedWithIOException(PARSER, input);
     }
-    public static Trajectory parseDelimitedFrom(
+    public static com.openpositioning.PositionMe.Traj.Trajectory parseDelimitedFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
     }
-    public static Trajectory parseFrom(
+    public static com.openpositioning.PositionMe.Traj.Trajectory parseFrom(
         com.google.protobuf.CodedInputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input);
     }
-    public static Trajectory parseFrom(
+    public static com.openpositioning.PositionMe.Traj.Trajectory parseFrom(
         com.google.protobuf.CodedInputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
@@ -1424,7 +1575,7 @@ public static Trajectory parseFrom(
     public static Builder newBuilder() {
       return DEFAULT_INSTANCE.toBuilder();
     }
-    public static Builder newBuilder(Trajectory prototype) {
+    public static Builder newBuilder(com.openpositioning.PositionMe.Traj.Trajectory prototype) {
       return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
     }
     public Builder toBuilder() {
@@ -1432,7 +1583,7 @@ public Builder toBuilder() {
           ? new Builder() : new Builder().mergeFrom(this);
     }
 
-    @Override
+    @java.lang.Override
     protected Builder newBuilderForType(
         com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
       Builder builder = new Builder(parent);
@@ -1444,20 +1595,20 @@ protected Builder newBuilderForType(
     public static final class Builder extends
         com.google.protobuf.GeneratedMessageV3.Builder<Builder> implements
         // @@protoc_insertion_point(builder_implements:Trajectory)
-        TrajectoryOrBuilder {
+        com.openpositioning.PositionMe.Traj.TrajectoryOrBuilder {
       public static final com.google.protobuf.Descriptors.Descriptor
           getDescriptor() {
-        return Traj.internal_static_Trajectory_descriptor;
+        return com.openpositioning.PositionMe.Traj.internal_static_Trajectory_descriptor;
       }
 
       protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
           internalGetFieldAccessorTable() {
-        return Traj.internal_static_Trajectory_fieldAccessorTable
+        return com.openpositioning.PositionMe.Traj.internal_static_Trajectory_fieldAccessorTable
             .ensureFieldAccessorsInitialized(
-                Trajectory.class, Builder.class);
+                com.openpositioning.PositionMe.Traj.Trajectory.class, com.openpositioning.PositionMe.Traj.Trajectory.Builder.class);
       }
 
-      // Construct using Traj.Trajectory.newBuilder()
+      // Construct using com.openpositioning.PositionMe.Traj.Trajectory.newBuilder()
       private Builder() {
         maybeForceBuilderInitialization();
       }
@@ -1478,6 +1629,7 @@ private void maybeForceBuilderInitialization() {
           getGnssDataFieldBuilder();
           getWifiDataFieldBuilder();
           getApsDataFieldBuilder();
+          getFusedPosFieldBuilder();
         }
       }
       public Builder clear() {
@@ -1572,28 +1724,40 @@ public Builder clear() {
           lightSensorInfo_ = null;
           lightSensorInfoBuilder_ = null;
         }
+        if (initialPosBuilder_ == null) {
+          initialPos_ = null;
+        } else {
+          initialPos_ = null;
+          initialPosBuilder_ = null;
+        }
+        if (fusedPosBuilder_ == null) {
+          fusedPos_ = java.util.Collections.emptyList();
+          bitField0_ = (bitField0_ & ~0x00040000);
+        } else {
+          fusedPosBuilder_.clear();
+        }
         return this;
       }
 
       public com.google.protobuf.Descriptors.Descriptor
           getDescriptorForType() {
-        return Traj.internal_static_Trajectory_descriptor;
+        return com.openpositioning.PositionMe.Traj.internal_static_Trajectory_descriptor;
       }
 
-      public Trajectory getDefaultInstanceForType() {
-        return Trajectory.getDefaultInstance();
+      public com.openpositioning.PositionMe.Traj.Trajectory getDefaultInstanceForType() {
+        return com.openpositioning.PositionMe.Traj.Trajectory.getDefaultInstance();
       }
 
-      public Trajectory build() {
-        Trajectory result = buildPartial();
+      public com.openpositioning.PositionMe.Traj.Trajectory build() {
+        com.openpositioning.PositionMe.Traj.Trajectory result = buildPartial();
         if (!result.isInitialized()) {
           throw newUninitializedMessageException(result);
         }
         return result;
       }
 
-      public Trajectory buildPartial() {
-        Trajectory result = new Trajectory(this);
+      public com.openpositioning.PositionMe.Traj.Trajectory buildPartial() {
+        com.openpositioning.PositionMe.Traj.Trajectory result = new com.openpositioning.PositionMe.Traj.Trajectory(this);
         int from_bitField0_ = bitField0_;
         int to_bitField0_ = 0;
         result.androidVersion_ = androidVersion_;
@@ -1701,6 +1865,20 @@ public Trajectory buildPartial() {
         } else {
           result.lightSensorInfo_ = lightSensorInfoBuilder_.build();
         }
+        if (initialPosBuilder_ == null) {
+          result.initialPos_ = initialPos_;
+        } else {
+          result.initialPos_ = initialPosBuilder_.build();
+        }
+        if (fusedPosBuilder_ == null) {
+          if (((bitField0_ & 0x00040000) == 0x00040000)) {
+            fusedPos_ = java.util.Collections.unmodifiableList(fusedPos_);
+            bitField0_ = (bitField0_ & ~0x00040000);
+          }
+          result.fusedPos_ = fusedPos_;
+        } else {
+          result.fusedPos_ = fusedPosBuilder_.build();
+        }
         result.bitField0_ = to_bitField0_;
         onBuilt();
         return result;
@@ -1733,16 +1911,16 @@ public Builder addRepeatedField(
         return (Builder) super.addRepeatedField(field, value);
       }
       public Builder mergeFrom(com.google.protobuf.Message other) {
-        if (other instanceof Trajectory) {
-          return mergeFrom((Trajectory)other);
+        if (other instanceof com.openpositioning.PositionMe.Traj.Trajectory) {
+          return mergeFrom((com.openpositioning.PositionMe.Traj.Trajectory)other);
         } else {
           super.mergeFrom(other);
           return this;
         }
       }
 
-      public Builder mergeFrom(Trajectory other) {
-        if (other == Trajectory.getDefaultInstance()) return this;
+      public Builder mergeFrom(com.openpositioning.PositionMe.Traj.Trajectory other) {
+        if (other == com.openpositioning.PositionMe.Traj.Trajectory.getDefaultInstance()) return this;
         if (!other.getAndroidVersion().isEmpty()) {
           androidVersion_ = other.androidVersion_;
           onChanged();
@@ -1980,6 +2158,35 @@ public Builder mergeFrom(Trajectory other) {
         if (other.hasLightSensorInfo()) {
           mergeLightSensorInfo(other.getLightSensorInfo());
         }
+        if (other.hasInitialPos()) {
+          mergeInitialPos(other.getInitialPos());
+        }
+        if (fusedPosBuilder_ == null) {
+          if (!other.fusedPos_.isEmpty()) {
+            if (fusedPos_.isEmpty()) {
+              fusedPos_ = other.fusedPos_;
+              bitField0_ = (bitField0_ & ~0x00040000);
+            } else {
+              ensureFusedPosIsMutable();
+              fusedPos_.addAll(other.fusedPos_);
+            }
+            onChanged();
+          }
+        } else {
+          if (!other.fusedPos_.isEmpty()) {
+            if (fusedPosBuilder_.isEmpty()) {
+              fusedPosBuilder_.dispose();
+              fusedPosBuilder_ = null;
+              fusedPos_ = other.fusedPos_;
+              bitField0_ = (bitField0_ & ~0x00040000);
+              fusedPosBuilder_ = 
+                com.google.protobuf.GeneratedMessageV3.alwaysUseFieldBuilders ?
+                   getFusedPosFieldBuilder() : null;
+            } else {
+              fusedPosBuilder_.addAllMessages(other.fusedPos_);
+            }
+          }
+        }
         onChanged();
         return this;
       }
@@ -1992,11 +2199,11 @@ public Builder mergeFrom(
           com.google.protobuf.CodedInputStream input,
           com.google.protobuf.ExtensionRegistryLite extensionRegistry)
           throws java.io.IOException {
-        Trajectory parsedMessage = null;
+        com.openpositioning.PositionMe.Traj.Trajectory parsedMessage = null;
         try {
           parsedMessage = PARSER.parsePartialFrom(input, extensionRegistry);
         } catch (com.google.protobuf.InvalidProtocolBufferException e) {
-          parsedMessage = (Trajectory) e.getUnfinishedMessage();
+          parsedMessage = (com.openpositioning.PositionMe.Traj.Trajectory) e.getUnfinishedMessage();
           throw e.unwrapIOException();
         } finally {
           if (parsedMessage != null) {
@@ -2007,20 +2214,20 @@ public Builder mergeFrom(
       }
       private int bitField0_;
 
-      private Object androidVersion_ = "";
+      private java.lang.Object androidVersion_ = "";
       /**
        * <code>optional string android_version = 1;</code>
        */
-      public String getAndroidVersion() {
-        Object ref = androidVersion_;
-        if (!(ref instanceof String)) {
+      public java.lang.String getAndroidVersion() {
+        java.lang.Object ref = androidVersion_;
+        if (!(ref instanceof java.lang.String)) {
           com.google.protobuf.ByteString bs =
               (com.google.protobuf.ByteString) ref;
-          String s = bs.toStringUtf8();
+          java.lang.String s = bs.toStringUtf8();
           androidVersion_ = s;
           return s;
         } else {
-          return (String) ref;
+          return (java.lang.String) ref;
         }
       }
       /**
@@ -2028,11 +2235,11 @@ public String getAndroidVersion() {
        */
       public com.google.protobuf.ByteString
           getAndroidVersionBytes() {
-        Object ref = androidVersion_;
+        java.lang.Object ref = androidVersion_;
         if (ref instanceof String) {
           com.google.protobuf.ByteString b = 
               com.google.protobuf.ByteString.copyFromUtf8(
-                  (String) ref);
+                  (java.lang.String) ref);
           androidVersion_ = b;
           return b;
         } else {
@@ -2043,7 +2250,7 @@ public String getAndroidVersion() {
        * <code>optional string android_version = 1;</code>
        */
       public Builder setAndroidVersion(
-          String value) {
+          java.lang.String value) {
         if (value == null) {
     throw new NullPointerException();
   }
@@ -2076,22 +2283,22 @@ public Builder setAndroidVersionBytes(
         return this;
       }
 
-      private java.util.List<Motion_Sample> imuData_ =
+      private java.util.List<com.openpositioning.PositionMe.Traj.Motion_Sample> imuData_ =
         java.util.Collections.emptyList();
       private void ensureImuDataIsMutable() {
         if (!((bitField0_ & 0x00000002) == 0x00000002)) {
-          imuData_ = new java.util.ArrayList<Motion_Sample>(imuData_);
+          imuData_ = new java.util.ArrayList<com.openpositioning.PositionMe.Traj.Motion_Sample>(imuData_);
           bitField0_ |= 0x00000002;
          }
       }
 
       private com.google.protobuf.RepeatedFieldBuilderV3<
-          Motion_Sample, Motion_Sample.Builder, Motion_SampleOrBuilder> imuDataBuilder_;
+          com.openpositioning.PositionMe.Traj.Motion_Sample, com.openpositioning.PositionMe.Traj.Motion_Sample.Builder, com.openpositioning.PositionMe.Traj.Motion_SampleOrBuilder> imuDataBuilder_;
 
       /**
        * <code>repeated .Motion_Sample imu_data = 2;</code>
        */
-      public java.util.List<Motion_Sample> getImuDataList() {
+      public java.util.List<com.openpositioning.PositionMe.Traj.Motion_Sample> getImuDataList() {
         if (imuDataBuilder_ == null) {
           return java.util.Collections.unmodifiableList(imuData_);
         } else {
@@ -2111,7 +2318,7 @@ public int getImuDataCount() {
       /**
        * <code>repeated .Motion_Sample imu_data = 2;</code>
        */
-      public Motion_Sample getImuData(int index) {
+      public com.openpositioning.PositionMe.Traj.Motion_Sample getImuData(int index) {
         if (imuDataBuilder_ == null) {
           return imuData_.get(index);
         } else {
@@ -2122,7 +2329,7 @@ public Motion_Sample getImuData(int index) {
        * <code>repeated .Motion_Sample imu_data = 2;</code>
        */
       public Builder setImuData(
-          int index, Motion_Sample value) {
+          int index, com.openpositioning.PositionMe.Traj.Motion_Sample value) {
         if (imuDataBuilder_ == null) {
           if (value == null) {
             throw new NullPointerException();
@@ -2139,7 +2346,7 @@ public Builder setImuData(
        * <code>repeated .Motion_Sample imu_data = 2;</code>
        */
       public Builder setImuData(
-          int index, Motion_Sample.Builder builderForValue) {
+          int index, com.openpositioning.PositionMe.Traj.Motion_Sample.Builder builderForValue) {
         if (imuDataBuilder_ == null) {
           ensureImuDataIsMutable();
           imuData_.set(index, builderForValue.build());
@@ -2152,7 +2359,7 @@ public Builder setImuData(
       /**
        * <code>repeated .Motion_Sample imu_data = 2;</code>
        */
-      public Builder addImuData(Motion_Sample value) {
+      public Builder addImuData(com.openpositioning.PositionMe.Traj.Motion_Sample value) {
         if (imuDataBuilder_ == null) {
           if (value == null) {
             throw new NullPointerException();
@@ -2169,7 +2376,7 @@ public Builder addImuData(Motion_Sample value) {
        * <code>repeated .Motion_Sample imu_data = 2;</code>
        */
       public Builder addImuData(
-          int index, Motion_Sample value) {
+          int index, com.openpositioning.PositionMe.Traj.Motion_Sample value) {
         if (imuDataBuilder_ == null) {
           if (value == null) {
             throw new NullPointerException();
@@ -2186,7 +2393,7 @@ public Builder addImuData(
        * <code>repeated .Motion_Sample imu_data = 2;</code>
        */
       public Builder addImuData(
-          Motion_Sample.Builder builderForValue) {
+          com.openpositioning.PositionMe.Traj.Motion_Sample.Builder builderForValue) {
         if (imuDataBuilder_ == null) {
           ensureImuDataIsMutable();
           imuData_.add(builderForValue.build());
@@ -2200,7 +2407,7 @@ public Builder addImuData(
        * <code>repeated .Motion_Sample imu_data = 2;</code>
        */
       public Builder addImuData(
-          int index, Motion_Sample.Builder builderForValue) {
+          int index, com.openpositioning.PositionMe.Traj.Motion_Sample.Builder builderForValue) {
         if (imuDataBuilder_ == null) {
           ensureImuDataIsMutable();
           imuData_.add(index, builderForValue.build());
@@ -2214,7 +2421,7 @@ public Builder addImuData(
        * <code>repeated .Motion_Sample imu_data = 2;</code>
        */
       public Builder addAllImuData(
-          Iterable<? extends Motion_Sample> values) {
+          java.lang.Iterable<? extends com.openpositioning.PositionMe.Traj.Motion_Sample> values) {
         if (imuDataBuilder_ == null) {
           ensureImuDataIsMutable();
           com.google.protobuf.AbstractMessageLite.Builder.addAll(
@@ -2254,14 +2461,14 @@ public Builder removeImuData(int index) {
       /**
        * <code>repeated .Motion_Sample imu_data = 2;</code>
        */
-      public Motion_Sample.Builder getImuDataBuilder(
+      public com.openpositioning.PositionMe.Traj.Motion_Sample.Builder getImuDataBuilder(
           int index) {
         return getImuDataFieldBuilder().getBuilder(index);
       }
       /**
        * <code>repeated .Motion_Sample imu_data = 2;</code>
        */
-      public Motion_SampleOrBuilder getImuDataOrBuilder(
+      public com.openpositioning.PositionMe.Traj.Motion_SampleOrBuilder getImuDataOrBuilder(
           int index) {
         if (imuDataBuilder_ == null) {
           return imuData_.get(index);  } else {
@@ -2271,7 +2478,7 @@ public Motion_SampleOrBuilder getImuDataOrBuilder(
       /**
        * <code>repeated .Motion_Sample imu_data = 2;</code>
        */
-      public java.util.List<? extends Motion_SampleOrBuilder>
+      public java.util.List<? extends com.openpositioning.PositionMe.Traj.Motion_SampleOrBuilder> 
            getImuDataOrBuilderList() {
         if (imuDataBuilder_ != null) {
           return imuDataBuilder_.getMessageOrBuilderList();
@@ -2282,31 +2489,31 @@ public Motion_SampleOrBuilder getImuDataOrBuilder(
       /**
        * <code>repeated .Motion_Sample imu_data = 2;</code>
        */
-      public Motion_Sample.Builder addImuDataBuilder() {
+      public com.openpositioning.PositionMe.Traj.Motion_Sample.Builder addImuDataBuilder() {
         return getImuDataFieldBuilder().addBuilder(
-            Motion_Sample.getDefaultInstance());
+            com.openpositioning.PositionMe.Traj.Motion_Sample.getDefaultInstance());
       }
       /**
        * <code>repeated .Motion_Sample imu_data = 2;</code>
        */
-      public Motion_Sample.Builder addImuDataBuilder(
+      public com.openpositioning.PositionMe.Traj.Motion_Sample.Builder addImuDataBuilder(
           int index) {
         return getImuDataFieldBuilder().addBuilder(
-            index, Motion_Sample.getDefaultInstance());
+            index, com.openpositioning.PositionMe.Traj.Motion_Sample.getDefaultInstance());
       }
       /**
        * <code>repeated .Motion_Sample imu_data = 2;</code>
        */
-      public java.util.List<Motion_Sample.Builder>
+      public java.util.List<com.openpositioning.PositionMe.Traj.Motion_Sample.Builder> 
            getImuDataBuilderList() {
         return getImuDataFieldBuilder().getBuilderList();
       }
       private com.google.protobuf.RepeatedFieldBuilderV3<
-          Motion_Sample, Motion_Sample.Builder, Motion_SampleOrBuilder>
+          com.openpositioning.PositionMe.Traj.Motion_Sample, com.openpositioning.PositionMe.Traj.Motion_Sample.Builder, com.openpositioning.PositionMe.Traj.Motion_SampleOrBuilder> 
           getImuDataFieldBuilder() {
         if (imuDataBuilder_ == null) {
           imuDataBuilder_ = new com.google.protobuf.RepeatedFieldBuilderV3<
-              Motion_Sample, Motion_Sample.Builder, Motion_SampleOrBuilder>(
+              com.openpositioning.PositionMe.Traj.Motion_Sample, com.openpositioning.PositionMe.Traj.Motion_Sample.Builder, com.openpositioning.PositionMe.Traj.Motion_SampleOrBuilder>(
                   imuData_,
                   ((bitField0_ & 0x00000002) == 0x00000002),
                   getParentForChildren(),
@@ -2316,22 +2523,22 @@ public Motion_Sample.Builder addImuDataBuilder(
         return imuDataBuilder_;
       }
 
-      private java.util.List<Pdr_Sample> pdrData_ =
+      private java.util.List<com.openpositioning.PositionMe.Traj.Pdr_Sample> pdrData_ =
         java.util.Collections.emptyList();
       private void ensurePdrDataIsMutable() {
         if (!((bitField0_ & 0x00000004) == 0x00000004)) {
-          pdrData_ = new java.util.ArrayList<Pdr_Sample>(pdrData_);
+          pdrData_ = new java.util.ArrayList<com.openpositioning.PositionMe.Traj.Pdr_Sample>(pdrData_);
           bitField0_ |= 0x00000004;
          }
       }
 
       private com.google.protobuf.RepeatedFieldBuilderV3<
-          Pdr_Sample, Pdr_Sample.Builder, Pdr_SampleOrBuilder> pdrDataBuilder_;
+          com.openpositioning.PositionMe.Traj.Pdr_Sample, com.openpositioning.PositionMe.Traj.Pdr_Sample.Builder, com.openpositioning.PositionMe.Traj.Pdr_SampleOrBuilder> pdrDataBuilder_;
 
       /**
        * <code>repeated .Pdr_Sample pdr_data = 3;</code>
        */
-      public java.util.List<Pdr_Sample> getPdrDataList() {
+      public java.util.List<com.openpositioning.PositionMe.Traj.Pdr_Sample> getPdrDataList() {
         if (pdrDataBuilder_ == null) {
           return java.util.Collections.unmodifiableList(pdrData_);
         } else {
@@ -2351,7 +2558,7 @@ public int getPdrDataCount() {
       /**
        * <code>repeated .Pdr_Sample pdr_data = 3;</code>
        */
-      public Pdr_Sample getPdrData(int index) {
+      public com.openpositioning.PositionMe.Traj.Pdr_Sample getPdrData(int index) {
         if (pdrDataBuilder_ == null) {
           return pdrData_.get(index);
         } else {
@@ -2362,7 +2569,7 @@ public Pdr_Sample getPdrData(int index) {
        * <code>repeated .Pdr_Sample pdr_data = 3;</code>
        */
       public Builder setPdrData(
-          int index, Pdr_Sample value) {
+          int index, com.openpositioning.PositionMe.Traj.Pdr_Sample value) {
         if (pdrDataBuilder_ == null) {
           if (value == null) {
             throw new NullPointerException();
@@ -2379,7 +2586,7 @@ public Builder setPdrData(
        * <code>repeated .Pdr_Sample pdr_data = 3;</code>
        */
       public Builder setPdrData(
-          int index, Pdr_Sample.Builder builderForValue) {
+          int index, com.openpositioning.PositionMe.Traj.Pdr_Sample.Builder builderForValue) {
         if (pdrDataBuilder_ == null) {
           ensurePdrDataIsMutable();
           pdrData_.set(index, builderForValue.build());
@@ -2392,7 +2599,7 @@ public Builder setPdrData(
       /**
        * <code>repeated .Pdr_Sample pdr_data = 3;</code>
        */
-      public Builder addPdrData(Pdr_Sample value) {
+      public Builder addPdrData(com.openpositioning.PositionMe.Traj.Pdr_Sample value) {
         if (pdrDataBuilder_ == null) {
           if (value == null) {
             throw new NullPointerException();
@@ -2409,7 +2616,7 @@ public Builder addPdrData(Pdr_Sample value) {
        * <code>repeated .Pdr_Sample pdr_data = 3;</code>
        */
       public Builder addPdrData(
-          int index, Pdr_Sample value) {
+          int index, com.openpositioning.PositionMe.Traj.Pdr_Sample value) {
         if (pdrDataBuilder_ == null) {
           if (value == null) {
             throw new NullPointerException();
@@ -2426,7 +2633,7 @@ public Builder addPdrData(
        * <code>repeated .Pdr_Sample pdr_data = 3;</code>
        */
       public Builder addPdrData(
-          Pdr_Sample.Builder builderForValue) {
+          com.openpositioning.PositionMe.Traj.Pdr_Sample.Builder builderForValue) {
         if (pdrDataBuilder_ == null) {
           ensurePdrDataIsMutable();
           pdrData_.add(builderForValue.build());
@@ -2440,7 +2647,7 @@ public Builder addPdrData(
        * <code>repeated .Pdr_Sample pdr_data = 3;</code>
        */
       public Builder addPdrData(
-          int index, Pdr_Sample.Builder builderForValue) {
+          int index, com.openpositioning.PositionMe.Traj.Pdr_Sample.Builder builderForValue) {
         if (pdrDataBuilder_ == null) {
           ensurePdrDataIsMutable();
           pdrData_.add(index, builderForValue.build());
@@ -2454,7 +2661,7 @@ public Builder addPdrData(
        * <code>repeated .Pdr_Sample pdr_data = 3;</code>
        */
       public Builder addAllPdrData(
-          Iterable<? extends Pdr_Sample> values) {
+          java.lang.Iterable<? extends com.openpositioning.PositionMe.Traj.Pdr_Sample> values) {
         if (pdrDataBuilder_ == null) {
           ensurePdrDataIsMutable();
           com.google.protobuf.AbstractMessageLite.Builder.addAll(
@@ -2494,14 +2701,14 @@ public Builder removePdrData(int index) {
       /**
        * <code>repeated .Pdr_Sample pdr_data = 3;</code>
        */
-      public Pdr_Sample.Builder getPdrDataBuilder(
+      public com.openpositioning.PositionMe.Traj.Pdr_Sample.Builder getPdrDataBuilder(
           int index) {
         return getPdrDataFieldBuilder().getBuilder(index);
       }
       /**
        * <code>repeated .Pdr_Sample pdr_data = 3;</code>
        */
-      public Pdr_SampleOrBuilder getPdrDataOrBuilder(
+      public com.openpositioning.PositionMe.Traj.Pdr_SampleOrBuilder getPdrDataOrBuilder(
           int index) {
         if (pdrDataBuilder_ == null) {
           return pdrData_.get(index);  } else {
@@ -2511,7 +2718,7 @@ public Pdr_SampleOrBuilder getPdrDataOrBuilder(
       /**
        * <code>repeated .Pdr_Sample pdr_data = 3;</code>
        */
-      public java.util.List<? extends Pdr_SampleOrBuilder>
+      public java.util.List<? extends com.openpositioning.PositionMe.Traj.Pdr_SampleOrBuilder> 
            getPdrDataOrBuilderList() {
         if (pdrDataBuilder_ != null) {
           return pdrDataBuilder_.getMessageOrBuilderList();
@@ -2522,31 +2729,31 @@ public Pdr_SampleOrBuilder getPdrDataOrBuilder(
       /**
        * <code>repeated .Pdr_Sample pdr_data = 3;</code>
        */
-      public Pdr_Sample.Builder addPdrDataBuilder() {
+      public com.openpositioning.PositionMe.Traj.Pdr_Sample.Builder addPdrDataBuilder() {
         return getPdrDataFieldBuilder().addBuilder(
-            Pdr_Sample.getDefaultInstance());
+            com.openpositioning.PositionMe.Traj.Pdr_Sample.getDefaultInstance());
       }
       /**
        * <code>repeated .Pdr_Sample pdr_data = 3;</code>
        */
-      public Pdr_Sample.Builder addPdrDataBuilder(
+      public com.openpositioning.PositionMe.Traj.Pdr_Sample.Builder addPdrDataBuilder(
           int index) {
         return getPdrDataFieldBuilder().addBuilder(
-            index, Pdr_Sample.getDefaultInstance());
+            index, com.openpositioning.PositionMe.Traj.Pdr_Sample.getDefaultInstance());
       }
       /**
        * <code>repeated .Pdr_Sample pdr_data = 3;</code>
        */
-      public java.util.List<Pdr_Sample.Builder>
+      public java.util.List<com.openpositioning.PositionMe.Traj.Pdr_Sample.Builder> 
            getPdrDataBuilderList() {
         return getPdrDataFieldBuilder().getBuilderList();
       }
       private com.google.protobuf.RepeatedFieldBuilderV3<
-          Pdr_Sample, Pdr_Sample.Builder, Pdr_SampleOrBuilder>
+          com.openpositioning.PositionMe.Traj.Pdr_Sample, com.openpositioning.PositionMe.Traj.Pdr_Sample.Builder, com.openpositioning.PositionMe.Traj.Pdr_SampleOrBuilder> 
           getPdrDataFieldBuilder() {
         if (pdrDataBuilder_ == null) {
           pdrDataBuilder_ = new com.google.protobuf.RepeatedFieldBuilderV3<
-              Pdr_Sample, Pdr_Sample.Builder, Pdr_SampleOrBuilder>(
+              com.openpositioning.PositionMe.Traj.Pdr_Sample, com.openpositioning.PositionMe.Traj.Pdr_Sample.Builder, com.openpositioning.PositionMe.Traj.Pdr_SampleOrBuilder>(
                   pdrData_,
                   ((bitField0_ & 0x00000004) == 0x00000004),
                   getParentForChildren(),
@@ -2556,22 +2763,22 @@ public Pdr_Sample.Builder addPdrDataBuilder(
         return pdrDataBuilder_;
       }
 
-      private java.util.List<Position_Sample> positionData_ =
+      private java.util.List<com.openpositioning.PositionMe.Traj.Position_Sample> positionData_ =
         java.util.Collections.emptyList();
       private void ensurePositionDataIsMutable() {
         if (!((bitField0_ & 0x00000008) == 0x00000008)) {
-          positionData_ = new java.util.ArrayList<Position_Sample>(positionData_);
+          positionData_ = new java.util.ArrayList<com.openpositioning.PositionMe.Traj.Position_Sample>(positionData_);
           bitField0_ |= 0x00000008;
          }
       }
 
       private com.google.protobuf.RepeatedFieldBuilderV3<
-          Position_Sample, Position_Sample.Builder, Position_SampleOrBuilder> positionDataBuilder_;
+          com.openpositioning.PositionMe.Traj.Position_Sample, com.openpositioning.PositionMe.Traj.Position_Sample.Builder, com.openpositioning.PositionMe.Traj.Position_SampleOrBuilder> positionDataBuilder_;
 
       /**
        * <code>repeated .Position_Sample position_data = 4;</code>
        */
-      public java.util.List<Position_Sample> getPositionDataList() {
+      public java.util.List<com.openpositioning.PositionMe.Traj.Position_Sample> getPositionDataList() {
         if (positionDataBuilder_ == null) {
           return java.util.Collections.unmodifiableList(positionData_);
         } else {
@@ -2591,7 +2798,7 @@ public int getPositionDataCount() {
       /**
        * <code>repeated .Position_Sample position_data = 4;</code>
        */
-      public Position_Sample getPositionData(int index) {
+      public com.openpositioning.PositionMe.Traj.Position_Sample getPositionData(int index) {
         if (positionDataBuilder_ == null) {
           return positionData_.get(index);
         } else {
@@ -2602,7 +2809,7 @@ public Position_Sample getPositionData(int index) {
        * <code>repeated .Position_Sample position_data = 4;</code>
        */
       public Builder setPositionData(
-          int index, Position_Sample value) {
+          int index, com.openpositioning.PositionMe.Traj.Position_Sample value) {
         if (positionDataBuilder_ == null) {
           if (value == null) {
             throw new NullPointerException();
@@ -2619,7 +2826,7 @@ public Builder setPositionData(
        * <code>repeated .Position_Sample position_data = 4;</code>
        */
       public Builder setPositionData(
-          int index, Position_Sample.Builder builderForValue) {
+          int index, com.openpositioning.PositionMe.Traj.Position_Sample.Builder builderForValue) {
         if (positionDataBuilder_ == null) {
           ensurePositionDataIsMutable();
           positionData_.set(index, builderForValue.build());
@@ -2632,7 +2839,7 @@ public Builder setPositionData(
       /**
        * <code>repeated .Position_Sample position_data = 4;</code>
        */
-      public Builder addPositionData(Position_Sample value) {
+      public Builder addPositionData(com.openpositioning.PositionMe.Traj.Position_Sample value) {
         if (positionDataBuilder_ == null) {
           if (value == null) {
             throw new NullPointerException();
@@ -2649,7 +2856,7 @@ public Builder addPositionData(Position_Sample value) {
        * <code>repeated .Position_Sample position_data = 4;</code>
        */
       public Builder addPositionData(
-          int index, Position_Sample value) {
+          int index, com.openpositioning.PositionMe.Traj.Position_Sample value) {
         if (positionDataBuilder_ == null) {
           if (value == null) {
             throw new NullPointerException();
@@ -2666,7 +2873,7 @@ public Builder addPositionData(
        * <code>repeated .Position_Sample position_data = 4;</code>
        */
       public Builder addPositionData(
-          Position_Sample.Builder builderForValue) {
+          com.openpositioning.PositionMe.Traj.Position_Sample.Builder builderForValue) {
         if (positionDataBuilder_ == null) {
           ensurePositionDataIsMutable();
           positionData_.add(builderForValue.build());
@@ -2680,7 +2887,7 @@ public Builder addPositionData(
        * <code>repeated .Position_Sample position_data = 4;</code>
        */
       public Builder addPositionData(
-          int index, Position_Sample.Builder builderForValue) {
+          int index, com.openpositioning.PositionMe.Traj.Position_Sample.Builder builderForValue) {
         if (positionDataBuilder_ == null) {
           ensurePositionDataIsMutable();
           positionData_.add(index, builderForValue.build());
@@ -2694,7 +2901,7 @@ public Builder addPositionData(
        * <code>repeated .Position_Sample position_data = 4;</code>
        */
       public Builder addAllPositionData(
-          Iterable<? extends Position_Sample> values) {
+          java.lang.Iterable<? extends com.openpositioning.PositionMe.Traj.Position_Sample> values) {
         if (positionDataBuilder_ == null) {
           ensurePositionDataIsMutable();
           com.google.protobuf.AbstractMessageLite.Builder.addAll(
@@ -2734,14 +2941,14 @@ public Builder removePositionData(int index) {
       /**
        * <code>repeated .Position_Sample position_data = 4;</code>
        */
-      public Position_Sample.Builder getPositionDataBuilder(
+      public com.openpositioning.PositionMe.Traj.Position_Sample.Builder getPositionDataBuilder(
           int index) {
         return getPositionDataFieldBuilder().getBuilder(index);
       }
       /**
        * <code>repeated .Position_Sample position_data = 4;</code>
        */
-      public Position_SampleOrBuilder getPositionDataOrBuilder(
+      public com.openpositioning.PositionMe.Traj.Position_SampleOrBuilder getPositionDataOrBuilder(
           int index) {
         if (positionDataBuilder_ == null) {
           return positionData_.get(index);  } else {
@@ -2751,7 +2958,7 @@ public Position_SampleOrBuilder getPositionDataOrBuilder(
       /**
        * <code>repeated .Position_Sample position_data = 4;</code>
        */
-      public java.util.List<? extends Position_SampleOrBuilder>
+      public java.util.List<? extends com.openpositioning.PositionMe.Traj.Position_SampleOrBuilder> 
            getPositionDataOrBuilderList() {
         if (positionDataBuilder_ != null) {
           return positionDataBuilder_.getMessageOrBuilderList();
@@ -2762,31 +2969,31 @@ public Position_SampleOrBuilder getPositionDataOrBuilder(
       /**
        * <code>repeated .Position_Sample position_data = 4;</code>
        */
-      public Position_Sample.Builder addPositionDataBuilder() {
+      public com.openpositioning.PositionMe.Traj.Position_Sample.Builder addPositionDataBuilder() {
         return getPositionDataFieldBuilder().addBuilder(
-            Position_Sample.getDefaultInstance());
+            com.openpositioning.PositionMe.Traj.Position_Sample.getDefaultInstance());
       }
       /**
        * <code>repeated .Position_Sample position_data = 4;</code>
        */
-      public Position_Sample.Builder addPositionDataBuilder(
+      public com.openpositioning.PositionMe.Traj.Position_Sample.Builder addPositionDataBuilder(
           int index) {
         return getPositionDataFieldBuilder().addBuilder(
-            index, Position_Sample.getDefaultInstance());
+            index, com.openpositioning.PositionMe.Traj.Position_Sample.getDefaultInstance());
       }
       /**
        * <code>repeated .Position_Sample position_data = 4;</code>
        */
-      public java.util.List<Position_Sample.Builder>
+      public java.util.List<com.openpositioning.PositionMe.Traj.Position_Sample.Builder> 
            getPositionDataBuilderList() {
         return getPositionDataFieldBuilder().getBuilderList();
       }
       private com.google.protobuf.RepeatedFieldBuilderV3<
-          Position_Sample, Position_Sample.Builder, Position_SampleOrBuilder>
+          com.openpositioning.PositionMe.Traj.Position_Sample, com.openpositioning.PositionMe.Traj.Position_Sample.Builder, com.openpositioning.PositionMe.Traj.Position_SampleOrBuilder> 
           getPositionDataFieldBuilder() {
         if (positionDataBuilder_ == null) {
           positionDataBuilder_ = new com.google.protobuf.RepeatedFieldBuilderV3<
-              Position_Sample, Position_Sample.Builder, Position_SampleOrBuilder>(
+              com.openpositioning.PositionMe.Traj.Position_Sample, com.openpositioning.PositionMe.Traj.Position_Sample.Builder, com.openpositioning.PositionMe.Traj.Position_SampleOrBuilder>(
                   positionData_,
                   ((bitField0_ & 0x00000008) == 0x00000008),
                   getParentForChildren(),
@@ -2796,22 +3003,22 @@ public Position_Sample.Builder addPositionDataBuilder(
         return positionDataBuilder_;
       }
 
-      private java.util.List<Pressure_Sample> pressureData_ =
+      private java.util.List<com.openpositioning.PositionMe.Traj.Pressure_Sample> pressureData_ =
         java.util.Collections.emptyList();
       private void ensurePressureDataIsMutable() {
         if (!((bitField0_ & 0x00000010) == 0x00000010)) {
-          pressureData_ = new java.util.ArrayList<Pressure_Sample>(pressureData_);
+          pressureData_ = new java.util.ArrayList<com.openpositioning.PositionMe.Traj.Pressure_Sample>(pressureData_);
           bitField0_ |= 0x00000010;
          }
       }
 
       private com.google.protobuf.RepeatedFieldBuilderV3<
-          Pressure_Sample, Pressure_Sample.Builder, Pressure_SampleOrBuilder> pressureDataBuilder_;
+          com.openpositioning.PositionMe.Traj.Pressure_Sample, com.openpositioning.PositionMe.Traj.Pressure_Sample.Builder, com.openpositioning.PositionMe.Traj.Pressure_SampleOrBuilder> pressureDataBuilder_;
 
       /**
        * <code>repeated .Pressure_Sample pressure_data = 5;</code>
        */
-      public java.util.List<Pressure_Sample> getPressureDataList() {
+      public java.util.List<com.openpositioning.PositionMe.Traj.Pressure_Sample> getPressureDataList() {
         if (pressureDataBuilder_ == null) {
           return java.util.Collections.unmodifiableList(pressureData_);
         } else {
@@ -2831,7 +3038,7 @@ public int getPressureDataCount() {
       /**
        * <code>repeated .Pressure_Sample pressure_data = 5;</code>
        */
-      public Pressure_Sample getPressureData(int index) {
+      public com.openpositioning.PositionMe.Traj.Pressure_Sample getPressureData(int index) {
         if (pressureDataBuilder_ == null) {
           return pressureData_.get(index);
         } else {
@@ -2842,7 +3049,7 @@ public Pressure_Sample getPressureData(int index) {
        * <code>repeated .Pressure_Sample pressure_data = 5;</code>
        */
       public Builder setPressureData(
-          int index, Pressure_Sample value) {
+          int index, com.openpositioning.PositionMe.Traj.Pressure_Sample value) {
         if (pressureDataBuilder_ == null) {
           if (value == null) {
             throw new NullPointerException();
@@ -2859,7 +3066,7 @@ public Builder setPressureData(
        * <code>repeated .Pressure_Sample pressure_data = 5;</code>
        */
       public Builder setPressureData(
-          int index, Pressure_Sample.Builder builderForValue) {
+          int index, com.openpositioning.PositionMe.Traj.Pressure_Sample.Builder builderForValue) {
         if (pressureDataBuilder_ == null) {
           ensurePressureDataIsMutable();
           pressureData_.set(index, builderForValue.build());
@@ -2872,7 +3079,7 @@ public Builder setPressureData(
       /**
        * <code>repeated .Pressure_Sample pressure_data = 5;</code>
        */
-      public Builder addPressureData(Pressure_Sample value) {
+      public Builder addPressureData(com.openpositioning.PositionMe.Traj.Pressure_Sample value) {
         if (pressureDataBuilder_ == null) {
           if (value == null) {
             throw new NullPointerException();
@@ -2889,7 +3096,7 @@ public Builder addPressureData(Pressure_Sample value) {
        * <code>repeated .Pressure_Sample pressure_data = 5;</code>
        */
       public Builder addPressureData(
-          int index, Pressure_Sample value) {
+          int index, com.openpositioning.PositionMe.Traj.Pressure_Sample value) {
         if (pressureDataBuilder_ == null) {
           if (value == null) {
             throw new NullPointerException();
@@ -2906,7 +3113,7 @@ public Builder addPressureData(
        * <code>repeated .Pressure_Sample pressure_data = 5;</code>
        */
       public Builder addPressureData(
-          Pressure_Sample.Builder builderForValue) {
+          com.openpositioning.PositionMe.Traj.Pressure_Sample.Builder builderForValue) {
         if (pressureDataBuilder_ == null) {
           ensurePressureDataIsMutable();
           pressureData_.add(builderForValue.build());
@@ -2920,7 +3127,7 @@ public Builder addPressureData(
        * <code>repeated .Pressure_Sample pressure_data = 5;</code>
        */
       public Builder addPressureData(
-          int index, Pressure_Sample.Builder builderForValue) {
+          int index, com.openpositioning.PositionMe.Traj.Pressure_Sample.Builder builderForValue) {
         if (pressureDataBuilder_ == null) {
           ensurePressureDataIsMutable();
           pressureData_.add(index, builderForValue.build());
@@ -2934,7 +3141,7 @@ public Builder addPressureData(
        * <code>repeated .Pressure_Sample pressure_data = 5;</code>
        */
       public Builder addAllPressureData(
-          Iterable<? extends Pressure_Sample> values) {
+          java.lang.Iterable<? extends com.openpositioning.PositionMe.Traj.Pressure_Sample> values) {
         if (pressureDataBuilder_ == null) {
           ensurePressureDataIsMutable();
           com.google.protobuf.AbstractMessageLite.Builder.addAll(
@@ -2974,14 +3181,14 @@ public Builder removePressureData(int index) {
       /**
        * <code>repeated .Pressure_Sample pressure_data = 5;</code>
        */
-      public Pressure_Sample.Builder getPressureDataBuilder(
+      public com.openpositioning.PositionMe.Traj.Pressure_Sample.Builder getPressureDataBuilder(
           int index) {
         return getPressureDataFieldBuilder().getBuilder(index);
       }
       /**
        * <code>repeated .Pressure_Sample pressure_data = 5;</code>
        */
-      public Pressure_SampleOrBuilder getPressureDataOrBuilder(
+      public com.openpositioning.PositionMe.Traj.Pressure_SampleOrBuilder getPressureDataOrBuilder(
           int index) {
         if (pressureDataBuilder_ == null) {
           return pressureData_.get(index);  } else {
@@ -2991,7 +3198,7 @@ public Pressure_SampleOrBuilder getPressureDataOrBuilder(
       /**
        * <code>repeated .Pressure_Sample pressure_data = 5;</code>
        */
-      public java.util.List<? extends Pressure_SampleOrBuilder>
+      public java.util.List<? extends com.openpositioning.PositionMe.Traj.Pressure_SampleOrBuilder> 
            getPressureDataOrBuilderList() {
         if (pressureDataBuilder_ != null) {
           return pressureDataBuilder_.getMessageOrBuilderList();
@@ -3002,31 +3209,31 @@ public Pressure_SampleOrBuilder getPressureDataOrBuilder(
       /**
        * <code>repeated .Pressure_Sample pressure_data = 5;</code>
        */
-      public Pressure_Sample.Builder addPressureDataBuilder() {
+      public com.openpositioning.PositionMe.Traj.Pressure_Sample.Builder addPressureDataBuilder() {
         return getPressureDataFieldBuilder().addBuilder(
-            Pressure_Sample.getDefaultInstance());
+            com.openpositioning.PositionMe.Traj.Pressure_Sample.getDefaultInstance());
       }
       /**
        * <code>repeated .Pressure_Sample pressure_data = 5;</code>
        */
-      public Pressure_Sample.Builder addPressureDataBuilder(
+      public com.openpositioning.PositionMe.Traj.Pressure_Sample.Builder addPressureDataBuilder(
           int index) {
         return getPressureDataFieldBuilder().addBuilder(
-            index, Pressure_Sample.getDefaultInstance());
+            index, com.openpositioning.PositionMe.Traj.Pressure_Sample.getDefaultInstance());
       }
       /**
        * <code>repeated .Pressure_Sample pressure_data = 5;</code>
        */
-      public java.util.List<Pressure_Sample.Builder>
+      public java.util.List<com.openpositioning.PositionMe.Traj.Pressure_Sample.Builder> 
            getPressureDataBuilderList() {
         return getPressureDataFieldBuilder().getBuilderList();
       }
       private com.google.protobuf.RepeatedFieldBuilderV3<
-          Pressure_Sample, Pressure_Sample.Builder, Pressure_SampleOrBuilder>
+          com.openpositioning.PositionMe.Traj.Pressure_Sample, com.openpositioning.PositionMe.Traj.Pressure_Sample.Builder, com.openpositioning.PositionMe.Traj.Pressure_SampleOrBuilder> 
           getPressureDataFieldBuilder() {
         if (pressureDataBuilder_ == null) {
           pressureDataBuilder_ = new com.google.protobuf.RepeatedFieldBuilderV3<
-              Pressure_Sample, Pressure_Sample.Builder, Pressure_SampleOrBuilder>(
+              com.openpositioning.PositionMe.Traj.Pressure_Sample, com.openpositioning.PositionMe.Traj.Pressure_Sample.Builder, com.openpositioning.PositionMe.Traj.Pressure_SampleOrBuilder>(
                   pressureData_,
                   ((bitField0_ & 0x00000010) == 0x00000010),
                   getParentForChildren(),
@@ -3036,22 +3243,22 @@ public Pressure_Sample.Builder addPressureDataBuilder(
         return pressureDataBuilder_;
       }
 
-      private java.util.List<Light_Sample> lightData_ =
+      private java.util.List<com.openpositioning.PositionMe.Traj.Light_Sample> lightData_ =
         java.util.Collections.emptyList();
       private void ensureLightDataIsMutable() {
         if (!((bitField0_ & 0x00000020) == 0x00000020)) {
-          lightData_ = new java.util.ArrayList<Light_Sample>(lightData_);
+          lightData_ = new java.util.ArrayList<com.openpositioning.PositionMe.Traj.Light_Sample>(lightData_);
           bitField0_ |= 0x00000020;
          }
       }
 
       private com.google.protobuf.RepeatedFieldBuilderV3<
-          Light_Sample, Light_Sample.Builder, Light_SampleOrBuilder> lightDataBuilder_;
+          com.openpositioning.PositionMe.Traj.Light_Sample, com.openpositioning.PositionMe.Traj.Light_Sample.Builder, com.openpositioning.PositionMe.Traj.Light_SampleOrBuilder> lightDataBuilder_;
 
       /**
        * <code>repeated .Light_Sample light_data = 6;</code>
        */
-      public java.util.List<Light_Sample> getLightDataList() {
+      public java.util.List<com.openpositioning.PositionMe.Traj.Light_Sample> getLightDataList() {
         if (lightDataBuilder_ == null) {
           return java.util.Collections.unmodifiableList(lightData_);
         } else {
@@ -3071,7 +3278,7 @@ public int getLightDataCount() {
       /**
        * <code>repeated .Light_Sample light_data = 6;</code>
        */
-      public Light_Sample getLightData(int index) {
+      public com.openpositioning.PositionMe.Traj.Light_Sample getLightData(int index) {
         if (lightDataBuilder_ == null) {
           return lightData_.get(index);
         } else {
@@ -3082,7 +3289,7 @@ public Light_Sample getLightData(int index) {
        * <code>repeated .Light_Sample light_data = 6;</code>
        */
       public Builder setLightData(
-          int index, Light_Sample value) {
+          int index, com.openpositioning.PositionMe.Traj.Light_Sample value) {
         if (lightDataBuilder_ == null) {
           if (value == null) {
             throw new NullPointerException();
@@ -3099,7 +3306,7 @@ public Builder setLightData(
        * <code>repeated .Light_Sample light_data = 6;</code>
        */
       public Builder setLightData(
-          int index, Light_Sample.Builder builderForValue) {
+          int index, com.openpositioning.PositionMe.Traj.Light_Sample.Builder builderForValue) {
         if (lightDataBuilder_ == null) {
           ensureLightDataIsMutable();
           lightData_.set(index, builderForValue.build());
@@ -3112,7 +3319,7 @@ public Builder setLightData(
       /**
        * <code>repeated .Light_Sample light_data = 6;</code>
        */
-      public Builder addLightData(Light_Sample value) {
+      public Builder addLightData(com.openpositioning.PositionMe.Traj.Light_Sample value) {
         if (lightDataBuilder_ == null) {
           if (value == null) {
             throw new NullPointerException();
@@ -3129,7 +3336,7 @@ public Builder addLightData(Light_Sample value) {
        * <code>repeated .Light_Sample light_data = 6;</code>
        */
       public Builder addLightData(
-          int index, Light_Sample value) {
+          int index, com.openpositioning.PositionMe.Traj.Light_Sample value) {
         if (lightDataBuilder_ == null) {
           if (value == null) {
             throw new NullPointerException();
@@ -3146,7 +3353,7 @@ public Builder addLightData(
        * <code>repeated .Light_Sample light_data = 6;</code>
        */
       public Builder addLightData(
-          Light_Sample.Builder builderForValue) {
+          com.openpositioning.PositionMe.Traj.Light_Sample.Builder builderForValue) {
         if (lightDataBuilder_ == null) {
           ensureLightDataIsMutable();
           lightData_.add(builderForValue.build());
@@ -3160,7 +3367,7 @@ public Builder addLightData(
        * <code>repeated .Light_Sample light_data = 6;</code>
        */
       public Builder addLightData(
-          int index, Light_Sample.Builder builderForValue) {
+          int index, com.openpositioning.PositionMe.Traj.Light_Sample.Builder builderForValue) {
         if (lightDataBuilder_ == null) {
           ensureLightDataIsMutable();
           lightData_.add(index, builderForValue.build());
@@ -3174,7 +3381,7 @@ public Builder addLightData(
        * <code>repeated .Light_Sample light_data = 6;</code>
        */
       public Builder addAllLightData(
-          Iterable<? extends Light_Sample> values) {
+          java.lang.Iterable<? extends com.openpositioning.PositionMe.Traj.Light_Sample> values) {
         if (lightDataBuilder_ == null) {
           ensureLightDataIsMutable();
           com.google.protobuf.AbstractMessageLite.Builder.addAll(
@@ -3214,14 +3421,14 @@ public Builder removeLightData(int index) {
       /**
        * <code>repeated .Light_Sample light_data = 6;</code>
        */
-      public Light_Sample.Builder getLightDataBuilder(
+      public com.openpositioning.PositionMe.Traj.Light_Sample.Builder getLightDataBuilder(
           int index) {
         return getLightDataFieldBuilder().getBuilder(index);
       }
       /**
        * <code>repeated .Light_Sample light_data = 6;</code>
        */
-      public Light_SampleOrBuilder getLightDataOrBuilder(
+      public com.openpositioning.PositionMe.Traj.Light_SampleOrBuilder getLightDataOrBuilder(
           int index) {
         if (lightDataBuilder_ == null) {
           return lightData_.get(index);  } else {
@@ -3231,7 +3438,7 @@ public Light_SampleOrBuilder getLightDataOrBuilder(
       /**
        * <code>repeated .Light_Sample light_data = 6;</code>
        */
-      public java.util.List<? extends Light_SampleOrBuilder>
+      public java.util.List<? extends com.openpositioning.PositionMe.Traj.Light_SampleOrBuilder> 
            getLightDataOrBuilderList() {
         if (lightDataBuilder_ != null) {
           return lightDataBuilder_.getMessageOrBuilderList();
@@ -3242,31 +3449,31 @@ public Light_SampleOrBuilder getLightDataOrBuilder(
       /**
        * <code>repeated .Light_Sample light_data = 6;</code>
        */
-      public Light_Sample.Builder addLightDataBuilder() {
+      public com.openpositioning.PositionMe.Traj.Light_Sample.Builder addLightDataBuilder() {
         return getLightDataFieldBuilder().addBuilder(
-            Light_Sample.getDefaultInstance());
+            com.openpositioning.PositionMe.Traj.Light_Sample.getDefaultInstance());
       }
       /**
        * <code>repeated .Light_Sample light_data = 6;</code>
        */
-      public Light_Sample.Builder addLightDataBuilder(
+      public com.openpositioning.PositionMe.Traj.Light_Sample.Builder addLightDataBuilder(
           int index) {
         return getLightDataFieldBuilder().addBuilder(
-            index, Light_Sample.getDefaultInstance());
+            index, com.openpositioning.PositionMe.Traj.Light_Sample.getDefaultInstance());
       }
       /**
        * <code>repeated .Light_Sample light_data = 6;</code>
        */
-      public java.util.List<Light_Sample.Builder>
+      public java.util.List<com.openpositioning.PositionMe.Traj.Light_Sample.Builder> 
            getLightDataBuilderList() {
         return getLightDataFieldBuilder().getBuilderList();
       }
       private com.google.protobuf.RepeatedFieldBuilderV3<
-          Light_Sample, Light_Sample.Builder, Light_SampleOrBuilder>
+          com.openpositioning.PositionMe.Traj.Light_Sample, com.openpositioning.PositionMe.Traj.Light_Sample.Builder, com.openpositioning.PositionMe.Traj.Light_SampleOrBuilder> 
           getLightDataFieldBuilder() {
         if (lightDataBuilder_ == null) {
           lightDataBuilder_ = new com.google.protobuf.RepeatedFieldBuilderV3<
-              Light_Sample, Light_Sample.Builder, Light_SampleOrBuilder>(
+              com.openpositioning.PositionMe.Traj.Light_Sample, com.openpositioning.PositionMe.Traj.Light_Sample.Builder, com.openpositioning.PositionMe.Traj.Light_SampleOrBuilder>(
                   lightData_,
                   ((bitField0_ & 0x00000020) == 0x00000020),
                   getParentForChildren(),
@@ -3276,22 +3483,22 @@ public Light_Sample.Builder addLightDataBuilder(
         return lightDataBuilder_;
       }
 
-      private java.util.List<GNSS_Sample> gnssData_ =
+      private java.util.List<com.openpositioning.PositionMe.Traj.GNSS_Sample> gnssData_ =
         java.util.Collections.emptyList();
       private void ensureGnssDataIsMutable() {
         if (!((bitField0_ & 0x00000040) == 0x00000040)) {
-          gnssData_ = new java.util.ArrayList<GNSS_Sample>(gnssData_);
+          gnssData_ = new java.util.ArrayList<com.openpositioning.PositionMe.Traj.GNSS_Sample>(gnssData_);
           bitField0_ |= 0x00000040;
          }
       }
 
       private com.google.protobuf.RepeatedFieldBuilderV3<
-          GNSS_Sample, GNSS_Sample.Builder, GNSS_SampleOrBuilder> gnssDataBuilder_;
+          com.openpositioning.PositionMe.Traj.GNSS_Sample, com.openpositioning.PositionMe.Traj.GNSS_Sample.Builder, com.openpositioning.PositionMe.Traj.GNSS_SampleOrBuilder> gnssDataBuilder_;
 
       /**
        * <code>repeated .GNSS_Sample gnss_data = 7;</code>
        */
-      public java.util.List<GNSS_Sample> getGnssDataList() {
+      public java.util.List<com.openpositioning.PositionMe.Traj.GNSS_Sample> getGnssDataList() {
         if (gnssDataBuilder_ == null) {
           return java.util.Collections.unmodifiableList(gnssData_);
         } else {
@@ -3311,7 +3518,7 @@ public int getGnssDataCount() {
       /**
        * <code>repeated .GNSS_Sample gnss_data = 7;</code>
        */
-      public GNSS_Sample getGnssData(int index) {
+      public com.openpositioning.PositionMe.Traj.GNSS_Sample getGnssData(int index) {
         if (gnssDataBuilder_ == null) {
           return gnssData_.get(index);
         } else {
@@ -3322,7 +3529,7 @@ public GNSS_Sample getGnssData(int index) {
        * <code>repeated .GNSS_Sample gnss_data = 7;</code>
        */
       public Builder setGnssData(
-          int index, GNSS_Sample value) {
+          int index, com.openpositioning.PositionMe.Traj.GNSS_Sample value) {
         if (gnssDataBuilder_ == null) {
           if (value == null) {
             throw new NullPointerException();
@@ -3339,7 +3546,7 @@ public Builder setGnssData(
        * <code>repeated .GNSS_Sample gnss_data = 7;</code>
        */
       public Builder setGnssData(
-          int index, GNSS_Sample.Builder builderForValue) {
+          int index, com.openpositioning.PositionMe.Traj.GNSS_Sample.Builder builderForValue) {
         if (gnssDataBuilder_ == null) {
           ensureGnssDataIsMutable();
           gnssData_.set(index, builderForValue.build());
@@ -3352,7 +3559,7 @@ public Builder setGnssData(
       /**
        * <code>repeated .GNSS_Sample gnss_data = 7;</code>
        */
-      public Builder addGnssData(GNSS_Sample value) {
+      public Builder addGnssData(com.openpositioning.PositionMe.Traj.GNSS_Sample value) {
         if (gnssDataBuilder_ == null) {
           if (value == null) {
             throw new NullPointerException();
@@ -3369,7 +3576,7 @@ public Builder addGnssData(GNSS_Sample value) {
        * <code>repeated .GNSS_Sample gnss_data = 7;</code>
        */
       public Builder addGnssData(
-          int index, GNSS_Sample value) {
+          int index, com.openpositioning.PositionMe.Traj.GNSS_Sample value) {
         if (gnssDataBuilder_ == null) {
           if (value == null) {
             throw new NullPointerException();
@@ -3386,7 +3593,7 @@ public Builder addGnssData(
        * <code>repeated .GNSS_Sample gnss_data = 7;</code>
        */
       public Builder addGnssData(
-          GNSS_Sample.Builder builderForValue) {
+          com.openpositioning.PositionMe.Traj.GNSS_Sample.Builder builderForValue) {
         if (gnssDataBuilder_ == null) {
           ensureGnssDataIsMutable();
           gnssData_.add(builderForValue.build());
@@ -3400,7 +3607,7 @@ public Builder addGnssData(
        * <code>repeated .GNSS_Sample gnss_data = 7;</code>
        */
       public Builder addGnssData(
-          int index, GNSS_Sample.Builder builderForValue) {
+          int index, com.openpositioning.PositionMe.Traj.GNSS_Sample.Builder builderForValue) {
         if (gnssDataBuilder_ == null) {
           ensureGnssDataIsMutable();
           gnssData_.add(index, builderForValue.build());
@@ -3414,7 +3621,7 @@ public Builder addGnssData(
        * <code>repeated .GNSS_Sample gnss_data = 7;</code>
        */
       public Builder addAllGnssData(
-          Iterable<? extends GNSS_Sample> values) {
+          java.lang.Iterable<? extends com.openpositioning.PositionMe.Traj.GNSS_Sample> values) {
         if (gnssDataBuilder_ == null) {
           ensureGnssDataIsMutable();
           com.google.protobuf.AbstractMessageLite.Builder.addAll(
@@ -3454,14 +3661,14 @@ public Builder removeGnssData(int index) {
       /**
        * <code>repeated .GNSS_Sample gnss_data = 7;</code>
        */
-      public GNSS_Sample.Builder getGnssDataBuilder(
+      public com.openpositioning.PositionMe.Traj.GNSS_Sample.Builder getGnssDataBuilder(
           int index) {
         return getGnssDataFieldBuilder().getBuilder(index);
       }
       /**
        * <code>repeated .GNSS_Sample gnss_data = 7;</code>
        */
-      public GNSS_SampleOrBuilder getGnssDataOrBuilder(
+      public com.openpositioning.PositionMe.Traj.GNSS_SampleOrBuilder getGnssDataOrBuilder(
           int index) {
         if (gnssDataBuilder_ == null) {
           return gnssData_.get(index);  } else {
@@ -3471,7 +3678,7 @@ public GNSS_SampleOrBuilder getGnssDataOrBuilder(
       /**
        * <code>repeated .GNSS_Sample gnss_data = 7;</code>
        */
-      public java.util.List<? extends GNSS_SampleOrBuilder>
+      public java.util.List<? extends com.openpositioning.PositionMe.Traj.GNSS_SampleOrBuilder> 
            getGnssDataOrBuilderList() {
         if (gnssDataBuilder_ != null) {
           return gnssDataBuilder_.getMessageOrBuilderList();
@@ -3482,31 +3689,31 @@ public GNSS_SampleOrBuilder getGnssDataOrBuilder(
       /**
        * <code>repeated .GNSS_Sample gnss_data = 7;</code>
        */
-      public GNSS_Sample.Builder addGnssDataBuilder() {
+      public com.openpositioning.PositionMe.Traj.GNSS_Sample.Builder addGnssDataBuilder() {
         return getGnssDataFieldBuilder().addBuilder(
-            GNSS_Sample.getDefaultInstance());
+            com.openpositioning.PositionMe.Traj.GNSS_Sample.getDefaultInstance());
       }
       /**
        * <code>repeated .GNSS_Sample gnss_data = 7;</code>
        */
-      public GNSS_Sample.Builder addGnssDataBuilder(
+      public com.openpositioning.PositionMe.Traj.GNSS_Sample.Builder addGnssDataBuilder(
           int index) {
         return getGnssDataFieldBuilder().addBuilder(
-            index, GNSS_Sample.getDefaultInstance());
+            index, com.openpositioning.PositionMe.Traj.GNSS_Sample.getDefaultInstance());
       }
       /**
        * <code>repeated .GNSS_Sample gnss_data = 7;</code>
        */
-      public java.util.List<GNSS_Sample.Builder>
+      public java.util.List<com.openpositioning.PositionMe.Traj.GNSS_Sample.Builder> 
            getGnssDataBuilderList() {
         return getGnssDataFieldBuilder().getBuilderList();
       }
       private com.google.protobuf.RepeatedFieldBuilderV3<
-          GNSS_Sample, GNSS_Sample.Builder, GNSS_SampleOrBuilder>
+          com.openpositioning.PositionMe.Traj.GNSS_Sample, com.openpositioning.PositionMe.Traj.GNSS_Sample.Builder, com.openpositioning.PositionMe.Traj.GNSS_SampleOrBuilder> 
           getGnssDataFieldBuilder() {
         if (gnssDataBuilder_ == null) {
           gnssDataBuilder_ = new com.google.protobuf.RepeatedFieldBuilderV3<
-              GNSS_Sample, GNSS_Sample.Builder, GNSS_SampleOrBuilder>(
+              com.openpositioning.PositionMe.Traj.GNSS_Sample, com.openpositioning.PositionMe.Traj.GNSS_Sample.Builder, com.openpositioning.PositionMe.Traj.GNSS_SampleOrBuilder>(
                   gnssData_,
                   ((bitField0_ & 0x00000040) == 0x00000040),
                   getParentForChildren(),
@@ -3516,22 +3723,22 @@ public GNSS_Sample.Builder addGnssDataBuilder(
         return gnssDataBuilder_;
       }
 
-      private java.util.List<WiFi_Sample> wifiData_ =
+      private java.util.List<com.openpositioning.PositionMe.Traj.WiFi_Sample> wifiData_ =
         java.util.Collections.emptyList();
       private void ensureWifiDataIsMutable() {
         if (!((bitField0_ & 0x00000080) == 0x00000080)) {
-          wifiData_ = new java.util.ArrayList<WiFi_Sample>(wifiData_);
+          wifiData_ = new java.util.ArrayList<com.openpositioning.PositionMe.Traj.WiFi_Sample>(wifiData_);
           bitField0_ |= 0x00000080;
          }
       }
 
       private com.google.protobuf.RepeatedFieldBuilderV3<
-          WiFi_Sample, WiFi_Sample.Builder, WiFi_SampleOrBuilder> wifiDataBuilder_;
+          com.openpositioning.PositionMe.Traj.WiFi_Sample, com.openpositioning.PositionMe.Traj.WiFi_Sample.Builder, com.openpositioning.PositionMe.Traj.WiFi_SampleOrBuilder> wifiDataBuilder_;
 
       /**
        * <code>repeated .WiFi_Sample wifi_data = 8;</code>
        */
-      public java.util.List<WiFi_Sample> getWifiDataList() {
+      public java.util.List<com.openpositioning.PositionMe.Traj.WiFi_Sample> getWifiDataList() {
         if (wifiDataBuilder_ == null) {
           return java.util.Collections.unmodifiableList(wifiData_);
         } else {
@@ -3551,7 +3758,7 @@ public int getWifiDataCount() {
       /**
        * <code>repeated .WiFi_Sample wifi_data = 8;</code>
        */
-      public WiFi_Sample getWifiData(int index) {
+      public com.openpositioning.PositionMe.Traj.WiFi_Sample getWifiData(int index) {
         if (wifiDataBuilder_ == null) {
           return wifiData_.get(index);
         } else {
@@ -3562,7 +3769,7 @@ public WiFi_Sample getWifiData(int index) {
        * <code>repeated .WiFi_Sample wifi_data = 8;</code>
        */
       public Builder setWifiData(
-          int index, WiFi_Sample value) {
+          int index, com.openpositioning.PositionMe.Traj.WiFi_Sample value) {
         if (wifiDataBuilder_ == null) {
           if (value == null) {
             throw new NullPointerException();
@@ -3579,7 +3786,7 @@ public Builder setWifiData(
        * <code>repeated .WiFi_Sample wifi_data = 8;</code>
        */
       public Builder setWifiData(
-          int index, WiFi_Sample.Builder builderForValue) {
+          int index, com.openpositioning.PositionMe.Traj.WiFi_Sample.Builder builderForValue) {
         if (wifiDataBuilder_ == null) {
           ensureWifiDataIsMutable();
           wifiData_.set(index, builderForValue.build());
@@ -3592,7 +3799,7 @@ public Builder setWifiData(
       /**
        * <code>repeated .WiFi_Sample wifi_data = 8;</code>
        */
-      public Builder addWifiData(WiFi_Sample value) {
+      public Builder addWifiData(com.openpositioning.PositionMe.Traj.WiFi_Sample value) {
         if (wifiDataBuilder_ == null) {
           if (value == null) {
             throw new NullPointerException();
@@ -3609,7 +3816,7 @@ public Builder addWifiData(WiFi_Sample value) {
        * <code>repeated .WiFi_Sample wifi_data = 8;</code>
        */
       public Builder addWifiData(
-          int index, WiFi_Sample value) {
+          int index, com.openpositioning.PositionMe.Traj.WiFi_Sample value) {
         if (wifiDataBuilder_ == null) {
           if (value == null) {
             throw new NullPointerException();
@@ -3626,7 +3833,7 @@ public Builder addWifiData(
        * <code>repeated .WiFi_Sample wifi_data = 8;</code>
        */
       public Builder addWifiData(
-          WiFi_Sample.Builder builderForValue) {
+          com.openpositioning.PositionMe.Traj.WiFi_Sample.Builder builderForValue) {
         if (wifiDataBuilder_ == null) {
           ensureWifiDataIsMutable();
           wifiData_.add(builderForValue.build());
@@ -3640,7 +3847,7 @@ public Builder addWifiData(
        * <code>repeated .WiFi_Sample wifi_data = 8;</code>
        */
       public Builder addWifiData(
-          int index, WiFi_Sample.Builder builderForValue) {
+          int index, com.openpositioning.PositionMe.Traj.WiFi_Sample.Builder builderForValue) {
         if (wifiDataBuilder_ == null) {
           ensureWifiDataIsMutable();
           wifiData_.add(index, builderForValue.build());
@@ -3654,7 +3861,7 @@ public Builder addWifiData(
        * <code>repeated .WiFi_Sample wifi_data = 8;</code>
        */
       public Builder addAllWifiData(
-          Iterable<? extends WiFi_Sample> values) {
+          java.lang.Iterable<? extends com.openpositioning.PositionMe.Traj.WiFi_Sample> values) {
         if (wifiDataBuilder_ == null) {
           ensureWifiDataIsMutable();
           com.google.protobuf.AbstractMessageLite.Builder.addAll(
@@ -3694,14 +3901,14 @@ public Builder removeWifiData(int index) {
       /**
        * <code>repeated .WiFi_Sample wifi_data = 8;</code>
        */
-      public WiFi_Sample.Builder getWifiDataBuilder(
+      public com.openpositioning.PositionMe.Traj.WiFi_Sample.Builder getWifiDataBuilder(
           int index) {
         return getWifiDataFieldBuilder().getBuilder(index);
       }
       /**
        * <code>repeated .WiFi_Sample wifi_data = 8;</code>
        */
-      public WiFi_SampleOrBuilder getWifiDataOrBuilder(
+      public com.openpositioning.PositionMe.Traj.WiFi_SampleOrBuilder getWifiDataOrBuilder(
           int index) {
         if (wifiDataBuilder_ == null) {
           return wifiData_.get(index);  } else {
@@ -3711,7 +3918,7 @@ public WiFi_SampleOrBuilder getWifiDataOrBuilder(
       /**
        * <code>repeated .WiFi_Sample wifi_data = 8;</code>
        */
-      public java.util.List<? extends WiFi_SampleOrBuilder>
+      public java.util.List<? extends com.openpositioning.PositionMe.Traj.WiFi_SampleOrBuilder> 
            getWifiDataOrBuilderList() {
         if (wifiDataBuilder_ != null) {
           return wifiDataBuilder_.getMessageOrBuilderList();
@@ -3722,31 +3929,31 @@ public WiFi_SampleOrBuilder getWifiDataOrBuilder(
       /**
        * <code>repeated .WiFi_Sample wifi_data = 8;</code>
        */
-      public WiFi_Sample.Builder addWifiDataBuilder() {
+      public com.openpositioning.PositionMe.Traj.WiFi_Sample.Builder addWifiDataBuilder() {
         return getWifiDataFieldBuilder().addBuilder(
-            WiFi_Sample.getDefaultInstance());
+            com.openpositioning.PositionMe.Traj.WiFi_Sample.getDefaultInstance());
       }
       /**
        * <code>repeated .WiFi_Sample wifi_data = 8;</code>
        */
-      public WiFi_Sample.Builder addWifiDataBuilder(
+      public com.openpositioning.PositionMe.Traj.WiFi_Sample.Builder addWifiDataBuilder(
           int index) {
         return getWifiDataFieldBuilder().addBuilder(
-            index, WiFi_Sample.getDefaultInstance());
+            index, com.openpositioning.PositionMe.Traj.WiFi_Sample.getDefaultInstance());
       }
       /**
        * <code>repeated .WiFi_Sample wifi_data = 8;</code>
        */
-      public java.util.List<WiFi_Sample.Builder>
+      public java.util.List<com.openpositioning.PositionMe.Traj.WiFi_Sample.Builder> 
            getWifiDataBuilderList() {
         return getWifiDataFieldBuilder().getBuilderList();
       }
       private com.google.protobuf.RepeatedFieldBuilderV3<
-          WiFi_Sample, WiFi_Sample.Builder, WiFi_SampleOrBuilder>
+          com.openpositioning.PositionMe.Traj.WiFi_Sample, com.openpositioning.PositionMe.Traj.WiFi_Sample.Builder, com.openpositioning.PositionMe.Traj.WiFi_SampleOrBuilder> 
           getWifiDataFieldBuilder() {
         if (wifiDataBuilder_ == null) {
           wifiDataBuilder_ = new com.google.protobuf.RepeatedFieldBuilderV3<
-              WiFi_Sample, WiFi_Sample.Builder, WiFi_SampleOrBuilder>(
+              com.openpositioning.PositionMe.Traj.WiFi_Sample, com.openpositioning.PositionMe.Traj.WiFi_Sample.Builder, com.openpositioning.PositionMe.Traj.WiFi_SampleOrBuilder>(
                   wifiData_,
                   ((bitField0_ & 0x00000080) == 0x00000080),
                   getParentForChildren(),
@@ -3756,22 +3963,22 @@ public WiFi_Sample.Builder addWifiDataBuilder(
         return wifiDataBuilder_;
       }
 
-      private java.util.List<AP_Data> apsData_ =
+      private java.util.List<com.openpositioning.PositionMe.Traj.AP_Data> apsData_ =
         java.util.Collections.emptyList();
       private void ensureApsDataIsMutable() {
         if (!((bitField0_ & 0x00000100) == 0x00000100)) {
-          apsData_ = new java.util.ArrayList<AP_Data>(apsData_);
+          apsData_ = new java.util.ArrayList<com.openpositioning.PositionMe.Traj.AP_Data>(apsData_);
           bitField0_ |= 0x00000100;
          }
       }
 
       private com.google.protobuf.RepeatedFieldBuilderV3<
-          AP_Data, AP_Data.Builder, AP_DataOrBuilder> apsDataBuilder_;
+          com.openpositioning.PositionMe.Traj.AP_Data, com.openpositioning.PositionMe.Traj.AP_Data.Builder, com.openpositioning.PositionMe.Traj.AP_DataOrBuilder> apsDataBuilder_;
 
       /**
        * <code>repeated .AP_Data aps_data = 9;</code>
        */
-      public java.util.List<AP_Data> getApsDataList() {
+      public java.util.List<com.openpositioning.PositionMe.Traj.AP_Data> getApsDataList() {
         if (apsDataBuilder_ == null) {
           return java.util.Collections.unmodifiableList(apsData_);
         } else {
@@ -3791,7 +3998,7 @@ public int getApsDataCount() {
       /**
        * <code>repeated .AP_Data aps_data = 9;</code>
        */
-      public AP_Data getApsData(int index) {
+      public com.openpositioning.PositionMe.Traj.AP_Data getApsData(int index) {
         if (apsDataBuilder_ == null) {
           return apsData_.get(index);
         } else {
@@ -3802,7 +4009,7 @@ public AP_Data getApsData(int index) {
        * <code>repeated .AP_Data aps_data = 9;</code>
        */
       public Builder setApsData(
-          int index, AP_Data value) {
+          int index, com.openpositioning.PositionMe.Traj.AP_Data value) {
         if (apsDataBuilder_ == null) {
           if (value == null) {
             throw new NullPointerException();
@@ -3819,7 +4026,7 @@ public Builder setApsData(
        * <code>repeated .AP_Data aps_data = 9;</code>
        */
       public Builder setApsData(
-          int index, AP_Data.Builder builderForValue) {
+          int index, com.openpositioning.PositionMe.Traj.AP_Data.Builder builderForValue) {
         if (apsDataBuilder_ == null) {
           ensureApsDataIsMutable();
           apsData_.set(index, builderForValue.build());
@@ -3832,7 +4039,7 @@ public Builder setApsData(
       /**
        * <code>repeated .AP_Data aps_data = 9;</code>
        */
-      public Builder addApsData(AP_Data value) {
+      public Builder addApsData(com.openpositioning.PositionMe.Traj.AP_Data value) {
         if (apsDataBuilder_ == null) {
           if (value == null) {
             throw new NullPointerException();
@@ -3849,7 +4056,7 @@ public Builder addApsData(AP_Data value) {
        * <code>repeated .AP_Data aps_data = 9;</code>
        */
       public Builder addApsData(
-          int index, AP_Data value) {
+          int index, com.openpositioning.PositionMe.Traj.AP_Data value) {
         if (apsDataBuilder_ == null) {
           if (value == null) {
             throw new NullPointerException();
@@ -3866,7 +4073,7 @@ public Builder addApsData(
        * <code>repeated .AP_Data aps_data = 9;</code>
        */
       public Builder addApsData(
-          AP_Data.Builder builderForValue) {
+          com.openpositioning.PositionMe.Traj.AP_Data.Builder builderForValue) {
         if (apsDataBuilder_ == null) {
           ensureApsDataIsMutable();
           apsData_.add(builderForValue.build());
@@ -3880,7 +4087,7 @@ public Builder addApsData(
        * <code>repeated .AP_Data aps_data = 9;</code>
        */
       public Builder addApsData(
-          int index, AP_Data.Builder builderForValue) {
+          int index, com.openpositioning.PositionMe.Traj.AP_Data.Builder builderForValue) {
         if (apsDataBuilder_ == null) {
           ensureApsDataIsMutable();
           apsData_.add(index, builderForValue.build());
@@ -3894,7 +4101,7 @@ public Builder addApsData(
        * <code>repeated .AP_Data aps_data = 9;</code>
        */
       public Builder addAllApsData(
-          Iterable<? extends AP_Data> values) {
+          java.lang.Iterable<? extends com.openpositioning.PositionMe.Traj.AP_Data> values) {
         if (apsDataBuilder_ == null) {
           ensureApsDataIsMutable();
           com.google.protobuf.AbstractMessageLite.Builder.addAll(
@@ -3934,14 +4141,14 @@ public Builder removeApsData(int index) {
       /**
        * <code>repeated .AP_Data aps_data = 9;</code>
        */
-      public AP_Data.Builder getApsDataBuilder(
+      public com.openpositioning.PositionMe.Traj.AP_Data.Builder getApsDataBuilder(
           int index) {
         return getApsDataFieldBuilder().getBuilder(index);
       }
       /**
        * <code>repeated .AP_Data aps_data = 9;</code>
        */
-      public AP_DataOrBuilder getApsDataOrBuilder(
+      public com.openpositioning.PositionMe.Traj.AP_DataOrBuilder getApsDataOrBuilder(
           int index) {
         if (apsDataBuilder_ == null) {
           return apsData_.get(index);  } else {
@@ -3951,7 +4158,7 @@ public AP_DataOrBuilder getApsDataOrBuilder(
       /**
        * <code>repeated .AP_Data aps_data = 9;</code>
        */
-      public java.util.List<? extends AP_DataOrBuilder>
+      public java.util.List<? extends com.openpositioning.PositionMe.Traj.AP_DataOrBuilder> 
            getApsDataOrBuilderList() {
         if (apsDataBuilder_ != null) {
           return apsDataBuilder_.getMessageOrBuilderList();
@@ -3962,31 +4169,31 @@ public AP_DataOrBuilder getApsDataOrBuilder(
       /**
        * <code>repeated .AP_Data aps_data = 9;</code>
        */
-      public AP_Data.Builder addApsDataBuilder() {
+      public com.openpositioning.PositionMe.Traj.AP_Data.Builder addApsDataBuilder() {
         return getApsDataFieldBuilder().addBuilder(
-            AP_Data.getDefaultInstance());
+            com.openpositioning.PositionMe.Traj.AP_Data.getDefaultInstance());
       }
       /**
        * <code>repeated .AP_Data aps_data = 9;</code>
        */
-      public AP_Data.Builder addApsDataBuilder(
+      public com.openpositioning.PositionMe.Traj.AP_Data.Builder addApsDataBuilder(
           int index) {
         return getApsDataFieldBuilder().addBuilder(
-            index, AP_Data.getDefaultInstance());
+            index, com.openpositioning.PositionMe.Traj.AP_Data.getDefaultInstance());
       }
       /**
        * <code>repeated .AP_Data aps_data = 9;</code>
        */
-      public java.util.List<AP_Data.Builder>
+      public java.util.List<com.openpositioning.PositionMe.Traj.AP_Data.Builder> 
            getApsDataBuilderList() {
         return getApsDataFieldBuilder().getBuilderList();
       }
       private com.google.protobuf.RepeatedFieldBuilderV3<
-          AP_Data, AP_Data.Builder, AP_DataOrBuilder>
+          com.openpositioning.PositionMe.Traj.AP_Data, com.openpositioning.PositionMe.Traj.AP_Data.Builder, com.openpositioning.PositionMe.Traj.AP_DataOrBuilder> 
           getApsDataFieldBuilder() {
         if (apsDataBuilder_ == null) {
           apsDataBuilder_ = new com.google.protobuf.RepeatedFieldBuilderV3<
-              AP_Data, AP_Data.Builder, AP_DataOrBuilder>(
+              com.openpositioning.PositionMe.Traj.AP_Data, com.openpositioning.PositionMe.Traj.AP_Data.Builder, com.openpositioning.PositionMe.Traj.AP_DataOrBuilder>(
                   apsData_,
                   ((bitField0_ & 0x00000100) == 0x00000100),
                   getParentForChildren(),
@@ -4052,20 +4259,20 @@ public Builder clearStartTimestamp() {
         return this;
       }
 
-      private Object dataIdentifier_ = "";
+      private java.lang.Object dataIdentifier_ = "";
       /**
        * <code>optional string data_identifier = 11;</code>
        */
-      public String getDataIdentifier() {
-        Object ref = dataIdentifier_;
-        if (!(ref instanceof String)) {
+      public java.lang.String getDataIdentifier() {
+        java.lang.Object ref = dataIdentifier_;
+        if (!(ref instanceof java.lang.String)) {
           com.google.protobuf.ByteString bs =
               (com.google.protobuf.ByteString) ref;
-          String s = bs.toStringUtf8();
+          java.lang.String s = bs.toStringUtf8();
           dataIdentifier_ = s;
           return s;
         } else {
-          return (String) ref;
+          return (java.lang.String) ref;
         }
       }
       /**
@@ -4073,11 +4280,11 @@ public String getDataIdentifier() {
        */
       public com.google.protobuf.ByteString
           getDataIdentifierBytes() {
-        Object ref = dataIdentifier_;
+        java.lang.Object ref = dataIdentifier_;
         if (ref instanceof String) {
           com.google.protobuf.ByteString b = 
               com.google.protobuf.ByteString.copyFromUtf8(
-                  (String) ref);
+                  (java.lang.String) ref);
           dataIdentifier_ = b;
           return b;
         } else {
@@ -4088,7 +4295,7 @@ public String getDataIdentifier() {
        * <code>optional string data_identifier = 11;</code>
        */
       public Builder setDataIdentifier(
-          String value) {
+          java.lang.String value) {
         if (value == null) {
     throw new NullPointerException();
   }
@@ -4121,9 +4328,9 @@ public Builder setDataIdentifierBytes(
         return this;
       }
 
-      private Sensor_Info accelerometerInfo_ = null;
+      private com.openpositioning.PositionMe.Traj.Sensor_Info accelerometerInfo_ = null;
       private com.google.protobuf.SingleFieldBuilderV3<
-          Sensor_Info, Sensor_Info.Builder, Sensor_InfoOrBuilder> accelerometerInfoBuilder_;
+          com.openpositioning.PositionMe.Traj.Sensor_Info, com.openpositioning.PositionMe.Traj.Sensor_Info.Builder, com.openpositioning.PositionMe.Traj.Sensor_InfoOrBuilder> accelerometerInfoBuilder_;
       /**
        * <code>optional .Sensor_Info accelerometer_info = 12;</code>
        */
@@ -4133,9 +4340,9 @@ public boolean hasAccelerometerInfo() {
       /**
        * <code>optional .Sensor_Info accelerometer_info = 12;</code>
        */
-      public Sensor_Info getAccelerometerInfo() {
+      public com.openpositioning.PositionMe.Traj.Sensor_Info getAccelerometerInfo() {
         if (accelerometerInfoBuilder_ == null) {
-          return accelerometerInfo_ == null ? Sensor_Info.getDefaultInstance() : accelerometerInfo_;
+          return accelerometerInfo_ == null ? com.openpositioning.PositionMe.Traj.Sensor_Info.getDefaultInstance() : accelerometerInfo_;
         } else {
           return accelerometerInfoBuilder_.getMessage();
         }
@@ -4143,7 +4350,7 @@ public Sensor_Info getAccelerometerInfo() {
       /**
        * <code>optional .Sensor_Info accelerometer_info = 12;</code>
        */
-      public Builder setAccelerometerInfo(Sensor_Info value) {
+      public Builder setAccelerometerInfo(com.openpositioning.PositionMe.Traj.Sensor_Info value) {
         if (accelerometerInfoBuilder_ == null) {
           if (value == null) {
             throw new NullPointerException();
@@ -4160,7 +4367,7 @@ public Builder setAccelerometerInfo(Sensor_Info value) {
        * <code>optional .Sensor_Info accelerometer_info = 12;</code>
        */
       public Builder setAccelerometerInfo(
-          Sensor_Info.Builder builderForValue) {
+          com.openpositioning.PositionMe.Traj.Sensor_Info.Builder builderForValue) {
         if (accelerometerInfoBuilder_ == null) {
           accelerometerInfo_ = builderForValue.build();
           onChanged();
@@ -4173,11 +4380,11 @@ public Builder setAccelerometerInfo(
       /**
        * <code>optional .Sensor_Info accelerometer_info = 12;</code>
        */
-      public Builder mergeAccelerometerInfo(Sensor_Info value) {
+      public Builder mergeAccelerometerInfo(com.openpositioning.PositionMe.Traj.Sensor_Info value) {
         if (accelerometerInfoBuilder_ == null) {
           if (accelerometerInfo_ != null) {
             accelerometerInfo_ =
-              Sensor_Info.newBuilder(accelerometerInfo_).mergeFrom(value).buildPartial();
+              com.openpositioning.PositionMe.Traj.Sensor_Info.newBuilder(accelerometerInfo_).mergeFrom(value).buildPartial();
           } else {
             accelerometerInfo_ = value;
           }
@@ -4205,7 +4412,7 @@ public Builder clearAccelerometerInfo() {
       /**
        * <code>optional .Sensor_Info accelerometer_info = 12;</code>
        */
-      public Sensor_Info.Builder getAccelerometerInfoBuilder() {
+      public com.openpositioning.PositionMe.Traj.Sensor_Info.Builder getAccelerometerInfoBuilder() {
         
         onChanged();
         return getAccelerometerInfoFieldBuilder().getBuilder();
@@ -4213,23 +4420,23 @@ public Sensor_Info.Builder getAccelerometerInfoBuilder() {
       /**
        * <code>optional .Sensor_Info accelerometer_info = 12;</code>
        */
-      public Sensor_InfoOrBuilder getAccelerometerInfoOrBuilder() {
+      public com.openpositioning.PositionMe.Traj.Sensor_InfoOrBuilder getAccelerometerInfoOrBuilder() {
         if (accelerometerInfoBuilder_ != null) {
           return accelerometerInfoBuilder_.getMessageOrBuilder();
         } else {
           return accelerometerInfo_ == null ?
-              Sensor_Info.getDefaultInstance() : accelerometerInfo_;
+              com.openpositioning.PositionMe.Traj.Sensor_Info.getDefaultInstance() : accelerometerInfo_;
         }
       }
       /**
        * <code>optional .Sensor_Info accelerometer_info = 12;</code>
        */
       private com.google.protobuf.SingleFieldBuilderV3<
-          Sensor_Info, Sensor_Info.Builder, Sensor_InfoOrBuilder>
+          com.openpositioning.PositionMe.Traj.Sensor_Info, com.openpositioning.PositionMe.Traj.Sensor_Info.Builder, com.openpositioning.PositionMe.Traj.Sensor_InfoOrBuilder> 
           getAccelerometerInfoFieldBuilder() {
         if (accelerometerInfoBuilder_ == null) {
           accelerometerInfoBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
-              Sensor_Info, Sensor_Info.Builder, Sensor_InfoOrBuilder>(
+              com.openpositioning.PositionMe.Traj.Sensor_Info, com.openpositioning.PositionMe.Traj.Sensor_Info.Builder, com.openpositioning.PositionMe.Traj.Sensor_InfoOrBuilder>(
                   getAccelerometerInfo(),
                   getParentForChildren(),
                   isClean());
@@ -4238,9 +4445,9 @@ public Sensor_InfoOrBuilder getAccelerometerInfoOrBuilder() {
         return accelerometerInfoBuilder_;
       }
 
-      private Sensor_Info gyroscopeInfo_ = null;
+      private com.openpositioning.PositionMe.Traj.Sensor_Info gyroscopeInfo_ = null;
       private com.google.protobuf.SingleFieldBuilderV3<
-          Sensor_Info, Sensor_Info.Builder, Sensor_InfoOrBuilder> gyroscopeInfoBuilder_;
+          com.openpositioning.PositionMe.Traj.Sensor_Info, com.openpositioning.PositionMe.Traj.Sensor_Info.Builder, com.openpositioning.PositionMe.Traj.Sensor_InfoOrBuilder> gyroscopeInfoBuilder_;
       /**
        * <code>optional .Sensor_Info gyroscope_info = 13;</code>
        */
@@ -4250,9 +4457,9 @@ public boolean hasGyroscopeInfo() {
       /**
        * <code>optional .Sensor_Info gyroscope_info = 13;</code>
        */
-      public Sensor_Info getGyroscopeInfo() {
+      public com.openpositioning.PositionMe.Traj.Sensor_Info getGyroscopeInfo() {
         if (gyroscopeInfoBuilder_ == null) {
-          return gyroscopeInfo_ == null ? Sensor_Info.getDefaultInstance() : gyroscopeInfo_;
+          return gyroscopeInfo_ == null ? com.openpositioning.PositionMe.Traj.Sensor_Info.getDefaultInstance() : gyroscopeInfo_;
         } else {
           return gyroscopeInfoBuilder_.getMessage();
         }
@@ -4260,7 +4467,7 @@ public Sensor_Info getGyroscopeInfo() {
       /**
        * <code>optional .Sensor_Info gyroscope_info = 13;</code>
        */
-      public Builder setGyroscopeInfo(Sensor_Info value) {
+      public Builder setGyroscopeInfo(com.openpositioning.PositionMe.Traj.Sensor_Info value) {
         if (gyroscopeInfoBuilder_ == null) {
           if (value == null) {
             throw new NullPointerException();
@@ -4277,7 +4484,7 @@ public Builder setGyroscopeInfo(Sensor_Info value) {
        * <code>optional .Sensor_Info gyroscope_info = 13;</code>
        */
       public Builder setGyroscopeInfo(
-          Sensor_Info.Builder builderForValue) {
+          com.openpositioning.PositionMe.Traj.Sensor_Info.Builder builderForValue) {
         if (gyroscopeInfoBuilder_ == null) {
           gyroscopeInfo_ = builderForValue.build();
           onChanged();
@@ -4290,11 +4497,11 @@ public Builder setGyroscopeInfo(
       /**
        * <code>optional .Sensor_Info gyroscope_info = 13;</code>
        */
-      public Builder mergeGyroscopeInfo(Sensor_Info value) {
+      public Builder mergeGyroscopeInfo(com.openpositioning.PositionMe.Traj.Sensor_Info value) {
         if (gyroscopeInfoBuilder_ == null) {
           if (gyroscopeInfo_ != null) {
             gyroscopeInfo_ =
-              Sensor_Info.newBuilder(gyroscopeInfo_).mergeFrom(value).buildPartial();
+              com.openpositioning.PositionMe.Traj.Sensor_Info.newBuilder(gyroscopeInfo_).mergeFrom(value).buildPartial();
           } else {
             gyroscopeInfo_ = value;
           }
@@ -4322,7 +4529,7 @@ public Builder clearGyroscopeInfo() {
       /**
        * <code>optional .Sensor_Info gyroscope_info = 13;</code>
        */
-      public Sensor_Info.Builder getGyroscopeInfoBuilder() {
+      public com.openpositioning.PositionMe.Traj.Sensor_Info.Builder getGyroscopeInfoBuilder() {
         
         onChanged();
         return getGyroscopeInfoFieldBuilder().getBuilder();
@@ -4330,23 +4537,23 @@ public Sensor_Info.Builder getGyroscopeInfoBuilder() {
       /**
        * <code>optional .Sensor_Info gyroscope_info = 13;</code>
        */
-      public Sensor_InfoOrBuilder getGyroscopeInfoOrBuilder() {
+      public com.openpositioning.PositionMe.Traj.Sensor_InfoOrBuilder getGyroscopeInfoOrBuilder() {
         if (gyroscopeInfoBuilder_ != null) {
           return gyroscopeInfoBuilder_.getMessageOrBuilder();
         } else {
           return gyroscopeInfo_ == null ?
-              Sensor_Info.getDefaultInstance() : gyroscopeInfo_;
+              com.openpositioning.PositionMe.Traj.Sensor_Info.getDefaultInstance() : gyroscopeInfo_;
         }
       }
       /**
        * <code>optional .Sensor_Info gyroscope_info = 13;</code>
        */
       private com.google.protobuf.SingleFieldBuilderV3<
-          Sensor_Info, Sensor_Info.Builder, Sensor_InfoOrBuilder>
+          com.openpositioning.PositionMe.Traj.Sensor_Info, com.openpositioning.PositionMe.Traj.Sensor_Info.Builder, com.openpositioning.PositionMe.Traj.Sensor_InfoOrBuilder> 
           getGyroscopeInfoFieldBuilder() {
         if (gyroscopeInfoBuilder_ == null) {
           gyroscopeInfoBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
-              Sensor_Info, Sensor_Info.Builder, Sensor_InfoOrBuilder>(
+              com.openpositioning.PositionMe.Traj.Sensor_Info, com.openpositioning.PositionMe.Traj.Sensor_Info.Builder, com.openpositioning.PositionMe.Traj.Sensor_InfoOrBuilder>(
                   getGyroscopeInfo(),
                   getParentForChildren(),
                   isClean());
@@ -4355,9 +4562,9 @@ public Sensor_InfoOrBuilder getGyroscopeInfoOrBuilder() {
         return gyroscopeInfoBuilder_;
       }
 
-      private Sensor_Info rotationVectorInfo_ = null;
+      private com.openpositioning.PositionMe.Traj.Sensor_Info rotationVectorInfo_ = null;
       private com.google.protobuf.SingleFieldBuilderV3<
-          Sensor_Info, Sensor_Info.Builder, Sensor_InfoOrBuilder> rotationVectorInfoBuilder_;
+          com.openpositioning.PositionMe.Traj.Sensor_Info, com.openpositioning.PositionMe.Traj.Sensor_Info.Builder, com.openpositioning.PositionMe.Traj.Sensor_InfoOrBuilder> rotationVectorInfoBuilder_;
       /**
        * <code>optional .Sensor_Info rotation_vector_info = 14;</code>
        */
@@ -4367,9 +4574,9 @@ public boolean hasRotationVectorInfo() {
       /**
        * <code>optional .Sensor_Info rotation_vector_info = 14;</code>
        */
-      public Sensor_Info getRotationVectorInfo() {
+      public com.openpositioning.PositionMe.Traj.Sensor_Info getRotationVectorInfo() {
         if (rotationVectorInfoBuilder_ == null) {
-          return rotationVectorInfo_ == null ? Sensor_Info.getDefaultInstance() : rotationVectorInfo_;
+          return rotationVectorInfo_ == null ? com.openpositioning.PositionMe.Traj.Sensor_Info.getDefaultInstance() : rotationVectorInfo_;
         } else {
           return rotationVectorInfoBuilder_.getMessage();
         }
@@ -4377,7 +4584,7 @@ public Sensor_Info getRotationVectorInfo() {
       /**
        * <code>optional .Sensor_Info rotation_vector_info = 14;</code>
        */
-      public Builder setRotationVectorInfo(Sensor_Info value) {
+      public Builder setRotationVectorInfo(com.openpositioning.PositionMe.Traj.Sensor_Info value) {
         if (rotationVectorInfoBuilder_ == null) {
           if (value == null) {
             throw new NullPointerException();
@@ -4394,7 +4601,7 @@ public Builder setRotationVectorInfo(Sensor_Info value) {
        * <code>optional .Sensor_Info rotation_vector_info = 14;</code>
        */
       public Builder setRotationVectorInfo(
-          Sensor_Info.Builder builderForValue) {
+          com.openpositioning.PositionMe.Traj.Sensor_Info.Builder builderForValue) {
         if (rotationVectorInfoBuilder_ == null) {
           rotationVectorInfo_ = builderForValue.build();
           onChanged();
@@ -4407,11 +4614,11 @@ public Builder setRotationVectorInfo(
       /**
        * <code>optional .Sensor_Info rotation_vector_info = 14;</code>
        */
-      public Builder mergeRotationVectorInfo(Sensor_Info value) {
+      public Builder mergeRotationVectorInfo(com.openpositioning.PositionMe.Traj.Sensor_Info value) {
         if (rotationVectorInfoBuilder_ == null) {
           if (rotationVectorInfo_ != null) {
             rotationVectorInfo_ =
-              Sensor_Info.newBuilder(rotationVectorInfo_).mergeFrom(value).buildPartial();
+              com.openpositioning.PositionMe.Traj.Sensor_Info.newBuilder(rotationVectorInfo_).mergeFrom(value).buildPartial();
           } else {
             rotationVectorInfo_ = value;
           }
@@ -4439,7 +4646,7 @@ public Builder clearRotationVectorInfo() {
       /**
        * <code>optional .Sensor_Info rotation_vector_info = 14;</code>
        */
-      public Sensor_Info.Builder getRotationVectorInfoBuilder() {
+      public com.openpositioning.PositionMe.Traj.Sensor_Info.Builder getRotationVectorInfoBuilder() {
         
         onChanged();
         return getRotationVectorInfoFieldBuilder().getBuilder();
@@ -4447,23 +4654,23 @@ public Sensor_Info.Builder getRotationVectorInfoBuilder() {
       /**
        * <code>optional .Sensor_Info rotation_vector_info = 14;</code>
        */
-      public Sensor_InfoOrBuilder getRotationVectorInfoOrBuilder() {
+      public com.openpositioning.PositionMe.Traj.Sensor_InfoOrBuilder getRotationVectorInfoOrBuilder() {
         if (rotationVectorInfoBuilder_ != null) {
           return rotationVectorInfoBuilder_.getMessageOrBuilder();
         } else {
           return rotationVectorInfo_ == null ?
-              Sensor_Info.getDefaultInstance() : rotationVectorInfo_;
+              com.openpositioning.PositionMe.Traj.Sensor_Info.getDefaultInstance() : rotationVectorInfo_;
         }
       }
       /**
        * <code>optional .Sensor_Info rotation_vector_info = 14;</code>
        */
       private com.google.protobuf.SingleFieldBuilderV3<
-          Sensor_Info, Sensor_Info.Builder, Sensor_InfoOrBuilder>
+          com.openpositioning.PositionMe.Traj.Sensor_Info, com.openpositioning.PositionMe.Traj.Sensor_Info.Builder, com.openpositioning.PositionMe.Traj.Sensor_InfoOrBuilder> 
           getRotationVectorInfoFieldBuilder() {
         if (rotationVectorInfoBuilder_ == null) {
           rotationVectorInfoBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
-              Sensor_Info, Sensor_Info.Builder, Sensor_InfoOrBuilder>(
+              com.openpositioning.PositionMe.Traj.Sensor_Info, com.openpositioning.PositionMe.Traj.Sensor_Info.Builder, com.openpositioning.PositionMe.Traj.Sensor_InfoOrBuilder>(
                   getRotationVectorInfo(),
                   getParentForChildren(),
                   isClean());
@@ -4472,9 +4679,9 @@ public Sensor_InfoOrBuilder getRotationVectorInfoOrBuilder() {
         return rotationVectorInfoBuilder_;
       }
 
-      private Sensor_Info magnetometerInfo_ = null;
+      private com.openpositioning.PositionMe.Traj.Sensor_Info magnetometerInfo_ = null;
       private com.google.protobuf.SingleFieldBuilderV3<
-          Sensor_Info, Sensor_Info.Builder, Sensor_InfoOrBuilder> magnetometerInfoBuilder_;
+          com.openpositioning.PositionMe.Traj.Sensor_Info, com.openpositioning.PositionMe.Traj.Sensor_Info.Builder, com.openpositioning.PositionMe.Traj.Sensor_InfoOrBuilder> magnetometerInfoBuilder_;
       /**
        * <code>optional .Sensor_Info magnetometer_info = 15;</code>
        */
@@ -4484,9 +4691,9 @@ public boolean hasMagnetometerInfo() {
       /**
        * <code>optional .Sensor_Info magnetometer_info = 15;</code>
        */
-      public Sensor_Info getMagnetometerInfo() {
+      public com.openpositioning.PositionMe.Traj.Sensor_Info getMagnetometerInfo() {
         if (magnetometerInfoBuilder_ == null) {
-          return magnetometerInfo_ == null ? Sensor_Info.getDefaultInstance() : magnetometerInfo_;
+          return magnetometerInfo_ == null ? com.openpositioning.PositionMe.Traj.Sensor_Info.getDefaultInstance() : magnetometerInfo_;
         } else {
           return magnetometerInfoBuilder_.getMessage();
         }
@@ -4494,7 +4701,7 @@ public Sensor_Info getMagnetometerInfo() {
       /**
        * <code>optional .Sensor_Info magnetometer_info = 15;</code>
        */
-      public Builder setMagnetometerInfo(Sensor_Info value) {
+      public Builder setMagnetometerInfo(com.openpositioning.PositionMe.Traj.Sensor_Info value) {
         if (magnetometerInfoBuilder_ == null) {
           if (value == null) {
             throw new NullPointerException();
@@ -4511,7 +4718,7 @@ public Builder setMagnetometerInfo(Sensor_Info value) {
        * <code>optional .Sensor_Info magnetometer_info = 15;</code>
        */
       public Builder setMagnetometerInfo(
-          Sensor_Info.Builder builderForValue) {
+          com.openpositioning.PositionMe.Traj.Sensor_Info.Builder builderForValue) {
         if (magnetometerInfoBuilder_ == null) {
           magnetometerInfo_ = builderForValue.build();
           onChanged();
@@ -4524,11 +4731,11 @@ public Builder setMagnetometerInfo(
       /**
        * <code>optional .Sensor_Info magnetometer_info = 15;</code>
        */
-      public Builder mergeMagnetometerInfo(Sensor_Info value) {
+      public Builder mergeMagnetometerInfo(com.openpositioning.PositionMe.Traj.Sensor_Info value) {
         if (magnetometerInfoBuilder_ == null) {
           if (magnetometerInfo_ != null) {
             magnetometerInfo_ =
-              Sensor_Info.newBuilder(magnetometerInfo_).mergeFrom(value).buildPartial();
+              com.openpositioning.PositionMe.Traj.Sensor_Info.newBuilder(magnetometerInfo_).mergeFrom(value).buildPartial();
           } else {
             magnetometerInfo_ = value;
           }
@@ -4556,7 +4763,7 @@ public Builder clearMagnetometerInfo() {
       /**
        * <code>optional .Sensor_Info magnetometer_info = 15;</code>
        */
-      public Sensor_Info.Builder getMagnetometerInfoBuilder() {
+      public com.openpositioning.PositionMe.Traj.Sensor_Info.Builder getMagnetometerInfoBuilder() {
         
         onChanged();
         return getMagnetometerInfoFieldBuilder().getBuilder();
@@ -4564,23 +4771,23 @@ public Sensor_Info.Builder getMagnetometerInfoBuilder() {
       /**
        * <code>optional .Sensor_Info magnetometer_info = 15;</code>
        */
-      public Sensor_InfoOrBuilder getMagnetometerInfoOrBuilder() {
+      public com.openpositioning.PositionMe.Traj.Sensor_InfoOrBuilder getMagnetometerInfoOrBuilder() {
         if (magnetometerInfoBuilder_ != null) {
           return magnetometerInfoBuilder_.getMessageOrBuilder();
         } else {
           return magnetometerInfo_ == null ?
-              Sensor_Info.getDefaultInstance() : magnetometerInfo_;
+              com.openpositioning.PositionMe.Traj.Sensor_Info.getDefaultInstance() : magnetometerInfo_;
         }
       }
       /**
        * <code>optional .Sensor_Info magnetometer_info = 15;</code>
        */
       private com.google.protobuf.SingleFieldBuilderV3<
-          Sensor_Info, Sensor_Info.Builder, Sensor_InfoOrBuilder>
+          com.openpositioning.PositionMe.Traj.Sensor_Info, com.openpositioning.PositionMe.Traj.Sensor_Info.Builder, com.openpositioning.PositionMe.Traj.Sensor_InfoOrBuilder> 
           getMagnetometerInfoFieldBuilder() {
         if (magnetometerInfoBuilder_ == null) {
           magnetometerInfoBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
-              Sensor_Info, Sensor_Info.Builder, Sensor_InfoOrBuilder>(
+              com.openpositioning.PositionMe.Traj.Sensor_Info, com.openpositioning.PositionMe.Traj.Sensor_Info.Builder, com.openpositioning.PositionMe.Traj.Sensor_InfoOrBuilder>(
                   getMagnetometerInfo(),
                   getParentForChildren(),
                   isClean());
@@ -4589,9 +4796,9 @@ public Sensor_InfoOrBuilder getMagnetometerInfoOrBuilder() {
         return magnetometerInfoBuilder_;
       }
 
-      private Sensor_Info barometerInfo_ = null;
+      private com.openpositioning.PositionMe.Traj.Sensor_Info barometerInfo_ = null;
       private com.google.protobuf.SingleFieldBuilderV3<
-          Sensor_Info, Sensor_Info.Builder, Sensor_InfoOrBuilder> barometerInfoBuilder_;
+          com.openpositioning.PositionMe.Traj.Sensor_Info, com.openpositioning.PositionMe.Traj.Sensor_Info.Builder, com.openpositioning.PositionMe.Traj.Sensor_InfoOrBuilder> barometerInfoBuilder_;
       /**
        * <code>optional .Sensor_Info barometer_info = 16;</code>
        */
@@ -4601,9 +4808,9 @@ public boolean hasBarometerInfo() {
       /**
        * <code>optional .Sensor_Info barometer_info = 16;</code>
        */
-      public Sensor_Info getBarometerInfo() {
+      public com.openpositioning.PositionMe.Traj.Sensor_Info getBarometerInfo() {
         if (barometerInfoBuilder_ == null) {
-          return barometerInfo_ == null ? Sensor_Info.getDefaultInstance() : barometerInfo_;
+          return barometerInfo_ == null ? com.openpositioning.PositionMe.Traj.Sensor_Info.getDefaultInstance() : barometerInfo_;
         } else {
           return barometerInfoBuilder_.getMessage();
         }
@@ -4611,7 +4818,7 @@ public Sensor_Info getBarometerInfo() {
       /**
        * <code>optional .Sensor_Info barometer_info = 16;</code>
        */
-      public Builder setBarometerInfo(Sensor_Info value) {
+      public Builder setBarometerInfo(com.openpositioning.PositionMe.Traj.Sensor_Info value) {
         if (barometerInfoBuilder_ == null) {
           if (value == null) {
             throw new NullPointerException();
@@ -4628,7 +4835,7 @@ public Builder setBarometerInfo(Sensor_Info value) {
        * <code>optional .Sensor_Info barometer_info = 16;</code>
        */
       public Builder setBarometerInfo(
-          Sensor_Info.Builder builderForValue) {
+          com.openpositioning.PositionMe.Traj.Sensor_Info.Builder builderForValue) {
         if (barometerInfoBuilder_ == null) {
           barometerInfo_ = builderForValue.build();
           onChanged();
@@ -4641,11 +4848,11 @@ public Builder setBarometerInfo(
       /**
        * <code>optional .Sensor_Info barometer_info = 16;</code>
        */
-      public Builder mergeBarometerInfo(Sensor_Info value) {
+      public Builder mergeBarometerInfo(com.openpositioning.PositionMe.Traj.Sensor_Info value) {
         if (barometerInfoBuilder_ == null) {
           if (barometerInfo_ != null) {
             barometerInfo_ =
-              Sensor_Info.newBuilder(barometerInfo_).mergeFrom(value).buildPartial();
+              com.openpositioning.PositionMe.Traj.Sensor_Info.newBuilder(barometerInfo_).mergeFrom(value).buildPartial();
           } else {
             barometerInfo_ = value;
           }
@@ -4673,7 +4880,7 @@ public Builder clearBarometerInfo() {
       /**
        * <code>optional .Sensor_Info barometer_info = 16;</code>
        */
-      public Sensor_Info.Builder getBarometerInfoBuilder() {
+      public com.openpositioning.PositionMe.Traj.Sensor_Info.Builder getBarometerInfoBuilder() {
         
         onChanged();
         return getBarometerInfoFieldBuilder().getBuilder();
@@ -4681,23 +4888,23 @@ public Sensor_Info.Builder getBarometerInfoBuilder() {
       /**
        * <code>optional .Sensor_Info barometer_info = 16;</code>
        */
-      public Sensor_InfoOrBuilder getBarometerInfoOrBuilder() {
+      public com.openpositioning.PositionMe.Traj.Sensor_InfoOrBuilder getBarometerInfoOrBuilder() {
         if (barometerInfoBuilder_ != null) {
           return barometerInfoBuilder_.getMessageOrBuilder();
         } else {
           return barometerInfo_ == null ?
-              Sensor_Info.getDefaultInstance() : barometerInfo_;
+              com.openpositioning.PositionMe.Traj.Sensor_Info.getDefaultInstance() : barometerInfo_;
         }
       }
       /**
        * <code>optional .Sensor_Info barometer_info = 16;</code>
        */
       private com.google.protobuf.SingleFieldBuilderV3<
-          Sensor_Info, Sensor_Info.Builder, Sensor_InfoOrBuilder>
+          com.openpositioning.PositionMe.Traj.Sensor_Info, com.openpositioning.PositionMe.Traj.Sensor_Info.Builder, com.openpositioning.PositionMe.Traj.Sensor_InfoOrBuilder> 
           getBarometerInfoFieldBuilder() {
         if (barometerInfoBuilder_ == null) {
           barometerInfoBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
-              Sensor_Info, Sensor_Info.Builder, Sensor_InfoOrBuilder>(
+              com.openpositioning.PositionMe.Traj.Sensor_Info, com.openpositioning.PositionMe.Traj.Sensor_Info.Builder, com.openpositioning.PositionMe.Traj.Sensor_InfoOrBuilder>(
                   getBarometerInfo(),
                   getParentForChildren(),
                   isClean());
@@ -4706,9 +4913,9 @@ public Sensor_InfoOrBuilder getBarometerInfoOrBuilder() {
         return barometerInfoBuilder_;
       }
 
-      private Sensor_Info lightSensorInfo_ = null;
+      private com.openpositioning.PositionMe.Traj.Sensor_Info lightSensorInfo_ = null;
       private com.google.protobuf.SingleFieldBuilderV3<
-          Sensor_Info, Sensor_Info.Builder, Sensor_InfoOrBuilder> lightSensorInfoBuilder_;
+          com.openpositioning.PositionMe.Traj.Sensor_Info, com.openpositioning.PositionMe.Traj.Sensor_Info.Builder, com.openpositioning.PositionMe.Traj.Sensor_InfoOrBuilder> lightSensorInfoBuilder_;
       /**
        * <code>optional .Sensor_Info light_sensor_info = 17;</code>
        */
@@ -4718,9 +4925,9 @@ public boolean hasLightSensorInfo() {
       /**
        * <code>optional .Sensor_Info light_sensor_info = 17;</code>
        */
-      public Sensor_Info getLightSensorInfo() {
+      public com.openpositioning.PositionMe.Traj.Sensor_Info getLightSensorInfo() {
         if (lightSensorInfoBuilder_ == null) {
-          return lightSensorInfo_ == null ? Sensor_Info.getDefaultInstance() : lightSensorInfo_;
+          return lightSensorInfo_ == null ? com.openpositioning.PositionMe.Traj.Sensor_Info.getDefaultInstance() : lightSensorInfo_;
         } else {
           return lightSensorInfoBuilder_.getMessage();
         }
@@ -4728,7 +4935,7 @@ public Sensor_Info getLightSensorInfo() {
       /**
        * <code>optional .Sensor_Info light_sensor_info = 17;</code>
        */
-      public Builder setLightSensorInfo(Sensor_Info value) {
+      public Builder setLightSensorInfo(com.openpositioning.PositionMe.Traj.Sensor_Info value) {
         if (lightSensorInfoBuilder_ == null) {
           if (value == null) {
             throw new NullPointerException();
@@ -4745,7 +4952,7 @@ public Builder setLightSensorInfo(Sensor_Info value) {
        * <code>optional .Sensor_Info light_sensor_info = 17;</code>
        */
       public Builder setLightSensorInfo(
-          Sensor_Info.Builder builderForValue) {
+          com.openpositioning.PositionMe.Traj.Sensor_Info.Builder builderForValue) {
         if (lightSensorInfoBuilder_ == null) {
           lightSensorInfo_ = builderForValue.build();
           onChanged();
@@ -4758,11 +4965,11 @@ public Builder setLightSensorInfo(
       /**
        * <code>optional .Sensor_Info light_sensor_info = 17;</code>
        */
-      public Builder mergeLightSensorInfo(Sensor_Info value) {
+      public Builder mergeLightSensorInfo(com.openpositioning.PositionMe.Traj.Sensor_Info value) {
         if (lightSensorInfoBuilder_ == null) {
           if (lightSensorInfo_ != null) {
             lightSensorInfo_ =
-              Sensor_Info.newBuilder(lightSensorInfo_).mergeFrom(value).buildPartial();
+              com.openpositioning.PositionMe.Traj.Sensor_Info.newBuilder(lightSensorInfo_).mergeFrom(value).buildPartial();
           } else {
             lightSensorInfo_ = value;
           }
@@ -4790,7 +4997,7 @@ public Builder clearLightSensorInfo() {
       /**
        * <code>optional .Sensor_Info light_sensor_info = 17;</code>
        */
-      public Sensor_Info.Builder getLightSensorInfoBuilder() {
+      public com.openpositioning.PositionMe.Traj.Sensor_Info.Builder getLightSensorInfoBuilder() {
         
         onChanged();
         return getLightSensorInfoFieldBuilder().getBuilder();
@@ -4798,23 +5005,23 @@ public Sensor_Info.Builder getLightSensorInfoBuilder() {
       /**
        * <code>optional .Sensor_Info light_sensor_info = 17;</code>
        */
-      public Sensor_InfoOrBuilder getLightSensorInfoOrBuilder() {
+      public com.openpositioning.PositionMe.Traj.Sensor_InfoOrBuilder getLightSensorInfoOrBuilder() {
         if (lightSensorInfoBuilder_ != null) {
           return lightSensorInfoBuilder_.getMessageOrBuilder();
         } else {
           return lightSensorInfo_ == null ?
-              Sensor_Info.getDefaultInstance() : lightSensorInfo_;
+              com.openpositioning.PositionMe.Traj.Sensor_Info.getDefaultInstance() : lightSensorInfo_;
         }
       }
       /**
        * <code>optional .Sensor_Info light_sensor_info = 17;</code>
        */
       private com.google.protobuf.SingleFieldBuilderV3<
-          Sensor_Info, Sensor_Info.Builder, Sensor_InfoOrBuilder>
+          com.openpositioning.PositionMe.Traj.Sensor_Info, com.openpositioning.PositionMe.Traj.Sensor_Info.Builder, com.openpositioning.PositionMe.Traj.Sensor_InfoOrBuilder> 
           getLightSensorInfoFieldBuilder() {
         if (lightSensorInfoBuilder_ == null) {
           lightSensorInfoBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
-              Sensor_Info, Sensor_Info.Builder, Sensor_InfoOrBuilder>(
+              com.openpositioning.PositionMe.Traj.Sensor_Info, com.openpositioning.PositionMe.Traj.Sensor_Info.Builder, com.openpositioning.PositionMe.Traj.Sensor_InfoOrBuilder>(
                   getLightSensorInfo(),
                   getParentForChildren(),
                   isClean());
@@ -4822,132 +5029,489 @@ public Sensor_InfoOrBuilder getLightSensorInfoOrBuilder() {
         }
         return lightSensorInfoBuilder_;
       }
-      public final Builder setUnknownFields(
-          final com.google.protobuf.UnknownFieldSet unknownFields) {
-        return this;
+
+      private com.openpositioning.PositionMe.Traj.Initial_Pos initialPos_ = null;
+      private com.google.protobuf.SingleFieldBuilderV3<
+          com.openpositioning.PositionMe.Traj.Initial_Pos, com.openpositioning.PositionMe.Traj.Initial_Pos.Builder, com.openpositioning.PositionMe.Traj.Initial_PosOrBuilder> initialPosBuilder_;
+      /**
+       * <code>optional .Initial_Pos initial_pos = 18;</code>
+       */
+      public boolean hasInitialPos() {
+        return initialPosBuilder_ != null || initialPos_ != null;
+      }
+      /**
+       * <code>optional .Initial_Pos initial_pos = 18;</code>
+       */
+      public com.openpositioning.PositionMe.Traj.Initial_Pos getInitialPos() {
+        if (initialPosBuilder_ == null) {
+          return initialPos_ == null ? com.openpositioning.PositionMe.Traj.Initial_Pos.getDefaultInstance() : initialPos_;
+        } else {
+          return initialPosBuilder_.getMessage();
+        }
       }
+      /**
+       * <code>optional .Initial_Pos initial_pos = 18;</code>
+       */
+      public Builder setInitialPos(com.openpositioning.PositionMe.Traj.Initial_Pos value) {
+        if (initialPosBuilder_ == null) {
+          if (value == null) {
+            throw new NullPointerException();
+          }
+          initialPos_ = value;
+          onChanged();
+        } else {
+          initialPosBuilder_.setMessage(value);
+        }
 
-      public final Builder mergeUnknownFields(
-          final com.google.protobuf.UnknownFieldSet unknownFields) {
         return this;
       }
+      /**
+       * <code>optional .Initial_Pos initial_pos = 18;</code>
+       */
+      public Builder setInitialPos(
+          com.openpositioning.PositionMe.Traj.Initial_Pos.Builder builderForValue) {
+        if (initialPosBuilder_ == null) {
+          initialPos_ = builderForValue.build();
+          onChanged();
+        } else {
+          initialPosBuilder_.setMessage(builderForValue.build());
+        }
 
-
-      // @@protoc_insertion_point(builder_scope:Trajectory)
-    }
-
-    // @@protoc_insertion_point(class_scope:Trajectory)
-    private static final Trajectory DEFAULT_INSTANCE;
-    static {
-      DEFAULT_INSTANCE = new Trajectory();
-    }
-
-    public static Trajectory getDefaultInstance() {
-      return DEFAULT_INSTANCE;
-    }
-
-    private static final com.google.protobuf.Parser<Trajectory>
-        PARSER = new com.google.protobuf.AbstractParser<Trajectory>() {
-      public Trajectory parsePartialFrom(
-          com.google.protobuf.CodedInputStream input,
-          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
-          throws com.google.protobuf.InvalidProtocolBufferException {
-          return new Trajectory(input, extensionRegistry);
+        return this;
       }
-    };
-
-    public static com.google.protobuf.Parser<Trajectory> parser() {
-      return PARSER;
-    }
-
-    @Override
-    public com.google.protobuf.Parser<Trajectory> getParserForType() {
-      return PARSER;
-    }
-
-    public Trajectory getDefaultInstanceForType() {
-      return DEFAULT_INSTANCE;
-    }
-
-  }
-
-  public interface Pdr_SampleOrBuilder extends
-      // @@protoc_insertion_point(interface_extends:Pdr_Sample)
-      com.google.protobuf.MessageOrBuilder {
-
-    /**
-     * <pre>
-     * milliseconds from the start_timestamp
-     * </pre>
-     *
-     * <code>optional int64 relative_timestamp = 1;</code>
-     */
-    long getRelativeTimestamp();
+      /**
+       * <code>optional .Initial_Pos initial_pos = 18;</code>
+       */
+      public Builder mergeInitialPos(com.openpositioning.PositionMe.Traj.Initial_Pos value) {
+        if (initialPosBuilder_ == null) {
+          if (initialPos_ != null) {
+            initialPos_ =
+              com.openpositioning.PositionMe.Traj.Initial_Pos.newBuilder(initialPos_).mergeFrom(value).buildPartial();
+          } else {
+            initialPos_ = value;
+          }
+          onChanged();
+        } else {
+          initialPosBuilder_.mergeFrom(value);
+        }
 
-    /**
-     * <pre>
-     * Both in metres. You should implement an algorithm to estimate
-     * these values. The values are always relative to your start point
-     * so the first entry should always be x = 0.0, y = 0.0
-     * </pre>
-     *
-     * <code>optional float x = 2;</code>
-     */
-    float getX();
+        return this;
+      }
+      /**
+       * <code>optional .Initial_Pos initial_pos = 18;</code>
+       */
+      public Builder clearInitialPos() {
+        if (initialPosBuilder_ == null) {
+          initialPos_ = null;
+          onChanged();
+        } else {
+          initialPos_ = null;
+          initialPosBuilder_ = null;
+        }
 
-    /**
-     * <code>optional float y = 3;</code>
-     */
-    float getY();
-  }
-  /**
-   * Protobuf type {@code Pdr_Sample}
-   */
-  public  static final class Pdr_Sample extends
-      com.google.protobuf.GeneratedMessageV3 implements
-      // @@protoc_insertion_point(message_implements:Pdr_Sample)
-      Pdr_SampleOrBuilder {
-    // Use Pdr_Sample.newBuilder() to construct.
-    private Pdr_Sample(com.google.protobuf.GeneratedMessageV3.Builder<?> builder) {
-      super(builder);
-    }
-    private Pdr_Sample() {
-      relativeTimestamp_ = 0L;
-      x_ = 0F;
-      y_ = 0F;
-    }
+        return this;
+      }
+      /**
+       * <code>optional .Initial_Pos initial_pos = 18;</code>
+       */
+      public com.openpositioning.PositionMe.Traj.Initial_Pos.Builder getInitialPosBuilder() {
+        
+        onChanged();
+        return getInitialPosFieldBuilder().getBuilder();
+      }
+      /**
+       * <code>optional .Initial_Pos initial_pos = 18;</code>
+       */
+      public com.openpositioning.PositionMe.Traj.Initial_PosOrBuilder getInitialPosOrBuilder() {
+        if (initialPosBuilder_ != null) {
+          return initialPosBuilder_.getMessageOrBuilder();
+        } else {
+          return initialPos_ == null ?
+              com.openpositioning.PositionMe.Traj.Initial_Pos.getDefaultInstance() : initialPos_;
+        }
+      }
+      /**
+       * <code>optional .Initial_Pos initial_pos = 18;</code>
+       */
+      private com.google.protobuf.SingleFieldBuilderV3<
+          com.openpositioning.PositionMe.Traj.Initial_Pos, com.openpositioning.PositionMe.Traj.Initial_Pos.Builder, com.openpositioning.PositionMe.Traj.Initial_PosOrBuilder> 
+          getInitialPosFieldBuilder() {
+        if (initialPosBuilder_ == null) {
+          initialPosBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
+              com.openpositioning.PositionMe.Traj.Initial_Pos, com.openpositioning.PositionMe.Traj.Initial_Pos.Builder, com.openpositioning.PositionMe.Traj.Initial_PosOrBuilder>(
+                  getInitialPos(),
+                  getParentForChildren(),
+                  isClean());
+          initialPos_ = null;
+        }
+        return initialPosBuilder_;
+      }
 
-    @Override
-    public final com.google.protobuf.UnknownFieldSet
-    getUnknownFields() {
-      return com.google.protobuf.UnknownFieldSet.getDefaultInstance();
-    }
-    private Pdr_Sample(
-        com.google.protobuf.CodedInputStream input,
-        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
-        throws com.google.protobuf.InvalidProtocolBufferException {
-      this();
-      int mutable_bitField0_ = 0;
-      try {
-        boolean done = false;
-        while (!done) {
-          int tag = input.readTag();
-          switch (tag) {
-            case 0:
-              done = true;
-              break;
-            default: {
-              if (!input.skipField(tag)) {
-                done = true;
-              }
-              break;
-            }
-            case 8: {
+      private java.util.List<com.openpositioning.PositionMe.Traj.Fused_Pos> fusedPos_ =
+        java.util.Collections.emptyList();
+      private void ensureFusedPosIsMutable() {
+        if (!((bitField0_ & 0x00040000) == 0x00040000)) {
+          fusedPos_ = new java.util.ArrayList<com.openpositioning.PositionMe.Traj.Fused_Pos>(fusedPos_);
+          bitField0_ |= 0x00040000;
+         }
+      }
 
-              relativeTimestamp_ = input.readInt64();
-              break;
-            }
-            case 21: {
+      private com.google.protobuf.RepeatedFieldBuilderV3<
+          com.openpositioning.PositionMe.Traj.Fused_Pos, com.openpositioning.PositionMe.Traj.Fused_Pos.Builder, com.openpositioning.PositionMe.Traj.Fused_PosOrBuilder> fusedPosBuilder_;
+
+      /**
+       * <code>repeated .Fused_Pos fused_pos = 19;</code>
+       */
+      public java.util.List<com.openpositioning.PositionMe.Traj.Fused_Pos> getFusedPosList() {
+        if (fusedPosBuilder_ == null) {
+          return java.util.Collections.unmodifiableList(fusedPos_);
+        } else {
+          return fusedPosBuilder_.getMessageList();
+        }
+      }
+      /**
+       * <code>repeated .Fused_Pos fused_pos = 19;</code>
+       */
+      public int getFusedPosCount() {
+        if (fusedPosBuilder_ == null) {
+          return fusedPos_.size();
+        } else {
+          return fusedPosBuilder_.getCount();
+        }
+      }
+      /**
+       * <code>repeated .Fused_Pos fused_pos = 19;</code>
+       */
+      public com.openpositioning.PositionMe.Traj.Fused_Pos getFusedPos(int index) {
+        if (fusedPosBuilder_ == null) {
+          return fusedPos_.get(index);
+        } else {
+          return fusedPosBuilder_.getMessage(index);
+        }
+      }
+      /**
+       * <code>repeated .Fused_Pos fused_pos = 19;</code>
+       */
+      public Builder setFusedPos(
+          int index, com.openpositioning.PositionMe.Traj.Fused_Pos value) {
+        if (fusedPosBuilder_ == null) {
+          if (value == null) {
+            throw new NullPointerException();
+          }
+          ensureFusedPosIsMutable();
+          fusedPos_.set(index, value);
+          onChanged();
+        } else {
+          fusedPosBuilder_.setMessage(index, value);
+        }
+        return this;
+      }
+      /**
+       * <code>repeated .Fused_Pos fused_pos = 19;</code>
+       */
+      public Builder setFusedPos(
+          int index, com.openpositioning.PositionMe.Traj.Fused_Pos.Builder builderForValue) {
+        if (fusedPosBuilder_ == null) {
+          ensureFusedPosIsMutable();
+          fusedPos_.set(index, builderForValue.build());
+          onChanged();
+        } else {
+          fusedPosBuilder_.setMessage(index, builderForValue.build());
+        }
+        return this;
+      }
+      /**
+       * <code>repeated .Fused_Pos fused_pos = 19;</code>
+       */
+      public Builder addFusedPos(com.openpositioning.PositionMe.Traj.Fused_Pos value) {
+        if (fusedPosBuilder_ == null) {
+          if (value == null) {
+            throw new NullPointerException();
+          }
+          ensureFusedPosIsMutable();
+          fusedPos_.add(value);
+          onChanged();
+        } else {
+          fusedPosBuilder_.addMessage(value);
+        }
+        return this;
+      }
+      /**
+       * <code>repeated .Fused_Pos fused_pos = 19;</code>
+       */
+      public Builder addFusedPos(
+          int index, com.openpositioning.PositionMe.Traj.Fused_Pos value) {
+        if (fusedPosBuilder_ == null) {
+          if (value == null) {
+            throw new NullPointerException();
+          }
+          ensureFusedPosIsMutable();
+          fusedPos_.add(index, value);
+          onChanged();
+        } else {
+          fusedPosBuilder_.addMessage(index, value);
+        }
+        return this;
+      }
+      /**
+       * <code>repeated .Fused_Pos fused_pos = 19;</code>
+       */
+      public Builder addFusedPos(
+          com.openpositioning.PositionMe.Traj.Fused_Pos.Builder builderForValue) {
+        if (fusedPosBuilder_ == null) {
+          ensureFusedPosIsMutable();
+          fusedPos_.add(builderForValue.build());
+          onChanged();
+        } else {
+          fusedPosBuilder_.addMessage(builderForValue.build());
+        }
+        return this;
+      }
+      /**
+       * <code>repeated .Fused_Pos fused_pos = 19;</code>
+       */
+      public Builder addFusedPos(
+          int index, com.openpositioning.PositionMe.Traj.Fused_Pos.Builder builderForValue) {
+        if (fusedPosBuilder_ == null) {
+          ensureFusedPosIsMutable();
+          fusedPos_.add(index, builderForValue.build());
+          onChanged();
+        } else {
+          fusedPosBuilder_.addMessage(index, builderForValue.build());
+        }
+        return this;
+      }
+      /**
+       * <code>repeated .Fused_Pos fused_pos = 19;</code>
+       */
+      public Builder addAllFusedPos(
+          java.lang.Iterable<? extends com.openpositioning.PositionMe.Traj.Fused_Pos> values) {
+        if (fusedPosBuilder_ == null) {
+          ensureFusedPosIsMutable();
+          com.google.protobuf.AbstractMessageLite.Builder.addAll(
+              values, fusedPos_);
+          onChanged();
+        } else {
+          fusedPosBuilder_.addAllMessages(values);
+        }
+        return this;
+      }
+      /**
+       * <code>repeated .Fused_Pos fused_pos = 19;</code>
+       */
+      public Builder clearFusedPos() {
+        if (fusedPosBuilder_ == null) {
+          fusedPos_ = java.util.Collections.emptyList();
+          bitField0_ = (bitField0_ & ~0x00040000);
+          onChanged();
+        } else {
+          fusedPosBuilder_.clear();
+        }
+        return this;
+      }
+      /**
+       * <code>repeated .Fused_Pos fused_pos = 19;</code>
+       */
+      public Builder removeFusedPos(int index) {
+        if (fusedPosBuilder_ == null) {
+          ensureFusedPosIsMutable();
+          fusedPos_.remove(index);
+          onChanged();
+        } else {
+          fusedPosBuilder_.remove(index);
+        }
+        return this;
+      }
+      /**
+       * <code>repeated .Fused_Pos fused_pos = 19;</code>
+       */
+      public com.openpositioning.PositionMe.Traj.Fused_Pos.Builder getFusedPosBuilder(
+          int index) {
+        return getFusedPosFieldBuilder().getBuilder(index);
+      }
+      /**
+       * <code>repeated .Fused_Pos fused_pos = 19;</code>
+       */
+      public com.openpositioning.PositionMe.Traj.Fused_PosOrBuilder getFusedPosOrBuilder(
+          int index) {
+        if (fusedPosBuilder_ == null) {
+          return fusedPos_.get(index);  } else {
+          return fusedPosBuilder_.getMessageOrBuilder(index);
+        }
+      }
+      /**
+       * <code>repeated .Fused_Pos fused_pos = 19;</code>
+       */
+      public java.util.List<? extends com.openpositioning.PositionMe.Traj.Fused_PosOrBuilder> 
+           getFusedPosOrBuilderList() {
+        if (fusedPosBuilder_ != null) {
+          return fusedPosBuilder_.getMessageOrBuilderList();
+        } else {
+          return java.util.Collections.unmodifiableList(fusedPos_);
+        }
+      }
+      /**
+       * <code>repeated .Fused_Pos fused_pos = 19;</code>
+       */
+      public com.openpositioning.PositionMe.Traj.Fused_Pos.Builder addFusedPosBuilder() {
+        return getFusedPosFieldBuilder().addBuilder(
+            com.openpositioning.PositionMe.Traj.Fused_Pos.getDefaultInstance());
+      }
+      /**
+       * <code>repeated .Fused_Pos fused_pos = 19;</code>
+       */
+      public com.openpositioning.PositionMe.Traj.Fused_Pos.Builder addFusedPosBuilder(
+          int index) {
+        return getFusedPosFieldBuilder().addBuilder(
+            index, com.openpositioning.PositionMe.Traj.Fused_Pos.getDefaultInstance());
+      }
+      /**
+       * <code>repeated .Fused_Pos fused_pos = 19;</code>
+       */
+      public java.util.List<com.openpositioning.PositionMe.Traj.Fused_Pos.Builder> 
+           getFusedPosBuilderList() {
+        return getFusedPosFieldBuilder().getBuilderList();
+      }
+      private com.google.protobuf.RepeatedFieldBuilderV3<
+          com.openpositioning.PositionMe.Traj.Fused_Pos, com.openpositioning.PositionMe.Traj.Fused_Pos.Builder, com.openpositioning.PositionMe.Traj.Fused_PosOrBuilder> 
+          getFusedPosFieldBuilder() {
+        if (fusedPosBuilder_ == null) {
+          fusedPosBuilder_ = new com.google.protobuf.RepeatedFieldBuilderV3<
+              com.openpositioning.PositionMe.Traj.Fused_Pos, com.openpositioning.PositionMe.Traj.Fused_Pos.Builder, com.openpositioning.PositionMe.Traj.Fused_PosOrBuilder>(
+                  fusedPos_,
+                  ((bitField0_ & 0x00040000) == 0x00040000),
+                  getParentForChildren(),
+                  isClean());
+          fusedPos_ = null;
+        }
+        return fusedPosBuilder_;
+      }
+      public final Builder setUnknownFields(
+          final com.google.protobuf.UnknownFieldSet unknownFields) {
+        return this;
+      }
+
+      public final Builder mergeUnknownFields(
+          final com.google.protobuf.UnknownFieldSet unknownFields) {
+        return this;
+      }
+
+
+      // @@protoc_insertion_point(builder_scope:Trajectory)
+    }
+
+    // @@protoc_insertion_point(class_scope:Trajectory)
+    private static final com.openpositioning.PositionMe.Traj.Trajectory DEFAULT_INSTANCE;
+    static {
+      DEFAULT_INSTANCE = new com.openpositioning.PositionMe.Traj.Trajectory();
+    }
+
+    public static com.openpositioning.PositionMe.Traj.Trajectory getDefaultInstance() {
+      return DEFAULT_INSTANCE;
+    }
+
+    private static final com.google.protobuf.Parser<Trajectory>
+        PARSER = new com.google.protobuf.AbstractParser<Trajectory>() {
+      public Trajectory parsePartialFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+          return new Trajectory(input, extensionRegistry);
+      }
+    };
+
+    public static com.google.protobuf.Parser<Trajectory> parser() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public com.google.protobuf.Parser<Trajectory> getParserForType() {
+      return PARSER;
+    }
+
+    public com.openpositioning.PositionMe.Traj.Trajectory getDefaultInstanceForType() {
+      return DEFAULT_INSTANCE;
+    }
+
+  }
+
+  public interface Pdr_SampleOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:Pdr_Sample)
+      com.google.protobuf.MessageOrBuilder {
+
+    /**
+     * <pre>
+     * milliseconds from the start_timestamp
+     * </pre>
+     *
+     * <code>optional int64 relative_timestamp = 1;</code>
+     */
+    long getRelativeTimestamp();
+
+    /**
+     * <pre>
+     * Both in metres. You should implement an algorithm to estimate
+     * these values. The values are always relative to your start point
+     * so the first entry should always be x = 0.0, y = 0.0
+     * </pre>
+     *
+     * <code>optional float x = 2;</code>
+     */
+    float getX();
+
+    /**
+     * <code>optional float y = 3;</code>
+     */
+    float getY();
+  }
+  /**
+   * Protobuf type {@code Pdr_Sample}
+   */
+  public  static final class Pdr_Sample extends
+      com.google.protobuf.GeneratedMessageV3 implements
+      // @@protoc_insertion_point(message_implements:Pdr_Sample)
+      Pdr_SampleOrBuilder {
+    // Use Pdr_Sample.newBuilder() to construct.
+    private Pdr_Sample(com.google.protobuf.GeneratedMessageV3.Builder<?> builder) {
+      super(builder);
+    }
+    private Pdr_Sample() {
+      relativeTimestamp_ = 0L;
+      x_ = 0F;
+      y_ = 0F;
+    }
+
+    @java.lang.Override
+    public final com.google.protobuf.UnknownFieldSet
+    getUnknownFields() {
+      return com.google.protobuf.UnknownFieldSet.getDefaultInstance();
+    }
+    private Pdr_Sample(
+        com.google.protobuf.CodedInputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      this();
+      int mutable_bitField0_ = 0;
+      try {
+        boolean done = false;
+        while (!done) {
+          int tag = input.readTag();
+          switch (tag) {
+            case 0:
+              done = true;
+              break;
+            default: {
+              if (!input.skipField(tag)) {
+                done = true;
+              }
+              break;
+            }
+            case 8: {
+
+              relativeTimestamp_ = input.readInt64();
+              break;
+            }
+            case 21: {
 
               x_ = input.readFloat();
               break;
@@ -4970,14 +5534,14 @@ private Pdr_Sample(
     }
     public static final com.google.protobuf.Descriptors.Descriptor
         getDescriptor() {
-      return Traj.internal_static_Pdr_Sample_descriptor;
+      return com.openpositioning.PositionMe.Traj.internal_static_Pdr_Sample_descriptor;
     }
 
     protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
         internalGetFieldAccessorTable() {
-      return Traj.internal_static_Pdr_Sample_fieldAccessorTable
+      return com.openpositioning.PositionMe.Traj.internal_static_Pdr_Sample_fieldAccessorTable
           .ensureFieldAccessorsInitialized(
-              Pdr_Sample.class, Builder.class);
+              com.openpositioning.PositionMe.Traj.Pdr_Sample.class, com.openpositioning.PositionMe.Traj.Pdr_Sample.Builder.class);
     }
 
     public static final int RELATIVE_TIMESTAMP_FIELD_NUMBER = 1;
@@ -5062,31 +5626,31 @@ public int getSerializedSize() {
     }
 
     private static final long serialVersionUID = 0L;
-    @Override
-    public boolean equals(final Object obj) {
+    @java.lang.Override
+    public boolean equals(final java.lang.Object obj) {
       if (obj == this) {
        return true;
       }
-      if (!(obj instanceof Pdr_Sample)) {
+      if (!(obj instanceof com.openpositioning.PositionMe.Traj.Pdr_Sample)) {
         return super.equals(obj);
       }
-      Pdr_Sample other = (Pdr_Sample) obj;
+      com.openpositioning.PositionMe.Traj.Pdr_Sample other = (com.openpositioning.PositionMe.Traj.Pdr_Sample) obj;
 
       boolean result = true;
       result = result && (getRelativeTimestamp()
           == other.getRelativeTimestamp());
       result = result && (
-          Float.floatToIntBits(getX())
-          == Float.floatToIntBits(
+          java.lang.Float.floatToIntBits(getX())
+          == java.lang.Float.floatToIntBits(
               other.getX()));
       result = result && (
-          Float.floatToIntBits(getY())
-          == Float.floatToIntBits(
+          java.lang.Float.floatToIntBits(getY())
+          == java.lang.Float.floatToIntBits(
               other.getY()));
       return result;
     }
 
-    @Override
+    @java.lang.Override
     public int hashCode() {
       if (memoizedHashCode != 0) {
         return memoizedHashCode;
@@ -5097,68 +5661,68 @@ public int hashCode() {
       hash = (53 * hash) + com.google.protobuf.Internal.hashLong(
           getRelativeTimestamp());
       hash = (37 * hash) + X_FIELD_NUMBER;
-      hash = (53 * hash) + Float.floatToIntBits(
+      hash = (53 * hash) + java.lang.Float.floatToIntBits(
           getX());
       hash = (37 * hash) + Y_FIELD_NUMBER;
-      hash = (53 * hash) + Float.floatToIntBits(
+      hash = (53 * hash) + java.lang.Float.floatToIntBits(
           getY());
       hash = (29 * hash) + unknownFields.hashCode();
       memoizedHashCode = hash;
       return hash;
     }
 
-    public static Pdr_Sample parseFrom(
+    public static com.openpositioning.PositionMe.Traj.Pdr_Sample parseFrom(
         com.google.protobuf.ByteString data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static Pdr_Sample parseFrom(
+    public static com.openpositioning.PositionMe.Traj.Pdr_Sample parseFrom(
         com.google.protobuf.ByteString data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static Pdr_Sample parseFrom(byte[] data)
+    public static com.openpositioning.PositionMe.Traj.Pdr_Sample parseFrom(byte[] data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static Pdr_Sample parseFrom(
+    public static com.openpositioning.PositionMe.Traj.Pdr_Sample parseFrom(
         byte[] data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static Pdr_Sample parseFrom(java.io.InputStream input)
+    public static com.openpositioning.PositionMe.Traj.Pdr_Sample parseFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input);
     }
-    public static Pdr_Sample parseFrom(
+    public static com.openpositioning.PositionMe.Traj.Pdr_Sample parseFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input, extensionRegistry);
     }
-    public static Pdr_Sample parseDelimitedFrom(java.io.InputStream input)
+    public static com.openpositioning.PositionMe.Traj.Pdr_Sample parseDelimitedFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseDelimitedWithIOException(PARSER, input);
     }
-    public static Pdr_Sample parseDelimitedFrom(
+    public static com.openpositioning.PositionMe.Traj.Pdr_Sample parseDelimitedFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
     }
-    public static Pdr_Sample parseFrom(
+    public static com.openpositioning.PositionMe.Traj.Pdr_Sample parseFrom(
         com.google.protobuf.CodedInputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input);
     }
-    public static Pdr_Sample parseFrom(
+    public static com.openpositioning.PositionMe.Traj.Pdr_Sample parseFrom(
         com.google.protobuf.CodedInputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
@@ -5170,7 +5734,7 @@ public static Pdr_Sample parseFrom(
     public static Builder newBuilder() {
       return DEFAULT_INSTANCE.toBuilder();
     }
-    public static Builder newBuilder(Pdr_Sample prototype) {
+    public static Builder newBuilder(com.openpositioning.PositionMe.Traj.Pdr_Sample prototype) {
       return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
     }
     public Builder toBuilder() {
@@ -5178,7 +5742,7 @@ public Builder toBuilder() {
           ? new Builder() : new Builder().mergeFrom(this);
     }
 
-    @Override
+    @java.lang.Override
     protected Builder newBuilderForType(
         com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
       Builder builder = new Builder(parent);
@@ -5190,20 +5754,20 @@ protected Builder newBuilderForType(
     public static final class Builder extends
         com.google.protobuf.GeneratedMessageV3.Builder<Builder> implements
         // @@protoc_insertion_point(builder_implements:Pdr_Sample)
-        Pdr_SampleOrBuilder {
+        com.openpositioning.PositionMe.Traj.Pdr_SampleOrBuilder {
       public static final com.google.protobuf.Descriptors.Descriptor
           getDescriptor() {
-        return Traj.internal_static_Pdr_Sample_descriptor;
+        return com.openpositioning.PositionMe.Traj.internal_static_Pdr_Sample_descriptor;
       }
 
       protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
           internalGetFieldAccessorTable() {
-        return Traj.internal_static_Pdr_Sample_fieldAccessorTable
+        return com.openpositioning.PositionMe.Traj.internal_static_Pdr_Sample_fieldAccessorTable
             .ensureFieldAccessorsInitialized(
-                Pdr_Sample.class, Builder.class);
+                com.openpositioning.PositionMe.Traj.Pdr_Sample.class, com.openpositioning.PositionMe.Traj.Pdr_Sample.Builder.class);
       }
 
-      // Construct using Traj.Pdr_Sample.newBuilder()
+      // Construct using com.openpositioning.PositionMe.Traj.Pdr_Sample.newBuilder()
       private Builder() {
         maybeForceBuilderInitialization();
       }
@@ -5231,23 +5795,23 @@ public Builder clear() {
 
       public com.google.protobuf.Descriptors.Descriptor
           getDescriptorForType() {
-        return Traj.internal_static_Pdr_Sample_descriptor;
+        return com.openpositioning.PositionMe.Traj.internal_static_Pdr_Sample_descriptor;
       }
 
-      public Pdr_Sample getDefaultInstanceForType() {
-        return Pdr_Sample.getDefaultInstance();
+      public com.openpositioning.PositionMe.Traj.Pdr_Sample getDefaultInstanceForType() {
+        return com.openpositioning.PositionMe.Traj.Pdr_Sample.getDefaultInstance();
       }
 
-      public Pdr_Sample build() {
-        Pdr_Sample result = buildPartial();
+      public com.openpositioning.PositionMe.Traj.Pdr_Sample build() {
+        com.openpositioning.PositionMe.Traj.Pdr_Sample result = buildPartial();
         if (!result.isInitialized()) {
           throw newUninitializedMessageException(result);
         }
         return result;
       }
 
-      public Pdr_Sample buildPartial() {
-        Pdr_Sample result = new Pdr_Sample(this);
+      public com.openpositioning.PositionMe.Traj.Pdr_Sample buildPartial() {
+        com.openpositioning.PositionMe.Traj.Pdr_Sample result = new com.openpositioning.PositionMe.Traj.Pdr_Sample(this);
         result.relativeTimestamp_ = relativeTimestamp_;
         result.x_ = x_;
         result.y_ = y_;
@@ -5282,16 +5846,16 @@ public Builder addRepeatedField(
         return (Builder) super.addRepeatedField(field, value);
       }
       public Builder mergeFrom(com.google.protobuf.Message other) {
-        if (other instanceof Pdr_Sample) {
-          return mergeFrom((Pdr_Sample)other);
+        if (other instanceof com.openpositioning.PositionMe.Traj.Pdr_Sample) {
+          return mergeFrom((com.openpositioning.PositionMe.Traj.Pdr_Sample)other);
         } else {
           super.mergeFrom(other);
           return this;
         }
       }
 
-      public Builder mergeFrom(Pdr_Sample other) {
-        if (other == Pdr_Sample.getDefaultInstance()) return this;
+      public Builder mergeFrom(com.openpositioning.PositionMe.Traj.Pdr_Sample other) {
+        if (other == com.openpositioning.PositionMe.Traj.Pdr_Sample.getDefaultInstance()) return this;
         if (other.getRelativeTimestamp() != 0L) {
           setRelativeTimestamp(other.getRelativeTimestamp());
         }
@@ -5313,11 +5877,11 @@ public Builder mergeFrom(
           com.google.protobuf.CodedInputStream input,
           com.google.protobuf.ExtensionRegistryLite extensionRegistry)
           throws java.io.IOException {
-        Pdr_Sample parsedMessage = null;
+        com.openpositioning.PositionMe.Traj.Pdr_Sample parsedMessage = null;
         try {
           parsedMessage = PARSER.parsePartialFrom(input, extensionRegistry);
         } catch (com.google.protobuf.InvalidProtocolBufferException e) {
-          parsedMessage = (Pdr_Sample) e.getUnfinishedMessage();
+          parsedMessage = (com.openpositioning.PositionMe.Traj.Pdr_Sample) e.getUnfinishedMessage();
           throw e.unwrapIOException();
         } finally {
           if (parsedMessage != null) {
@@ -5449,12 +6013,12 @@ public final Builder mergeUnknownFields(
     }
 
     // @@protoc_insertion_point(class_scope:Pdr_Sample)
-    private static final Pdr_Sample DEFAULT_INSTANCE;
+    private static final com.openpositioning.PositionMe.Traj.Pdr_Sample DEFAULT_INSTANCE;
     static {
-      DEFAULT_INSTANCE = new Pdr_Sample();
+      DEFAULT_INSTANCE = new com.openpositioning.PositionMe.Traj.Pdr_Sample();
     }
 
-    public static Pdr_Sample getDefaultInstance() {
+    public static com.openpositioning.PositionMe.Traj.Pdr_Sample getDefaultInstance() {
       return DEFAULT_INSTANCE;
     }
 
@@ -5472,12 +6036,12 @@ public static com.google.protobuf.Parser<Pdr_Sample> parser() {
       return PARSER;
     }
 
-    @Override
+    @java.lang.Override
     public com.google.protobuf.Parser<Pdr_Sample> getParserForType() {
       return PARSER;
     }
 
-    public Pdr_Sample getDefaultInstanceForType() {
+    public com.openpositioning.PositionMe.Traj.Pdr_Sample getDefaultInstanceForType() {
       return DEFAULT_INSTANCE;
     }
 
@@ -5593,7 +6157,7 @@ private Motion_Sample() {
       stepCount_ = 0;
     }
 
-    @Override
+    @java.lang.Override
     public final com.google.protobuf.UnknownFieldSet
     getUnknownFields() {
       return com.google.protobuf.UnknownFieldSet.getDefaultInstance();
@@ -5691,14 +6255,14 @@ private Motion_Sample(
     }
     public static final com.google.protobuf.Descriptors.Descriptor
         getDescriptor() {
-      return Traj.internal_static_Motion_Sample_descriptor;
+      return com.openpositioning.PositionMe.Traj.internal_static_Motion_Sample_descriptor;
     }
 
     protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
         internalGetFieldAccessorTable() {
-      return Traj.internal_static_Motion_Sample_fieldAccessorTable
+      return com.openpositioning.PositionMe.Traj.internal_static_Motion_Sample_fieldAccessorTable
           .ensureFieldAccessorsInitialized(
-              Motion_Sample.class, Builder.class);
+              com.openpositioning.PositionMe.Traj.Motion_Sample.class, com.openpositioning.PositionMe.Traj.Motion_Sample.Builder.class);
     }
 
     public static final int RELATIVE_TIMESTAMP_FIELD_NUMBER = 1;
@@ -5937,65 +6501,65 @@ public int getSerializedSize() {
     }
 
     private static final long serialVersionUID = 0L;
-    @Override
-    public boolean equals(final Object obj) {
+    @java.lang.Override
+    public boolean equals(final java.lang.Object obj) {
       if (obj == this) {
        return true;
       }
-      if (!(obj instanceof Motion_Sample)) {
+      if (!(obj instanceof com.openpositioning.PositionMe.Traj.Motion_Sample)) {
         return super.equals(obj);
       }
-      Motion_Sample other = (Motion_Sample) obj;
+      com.openpositioning.PositionMe.Traj.Motion_Sample other = (com.openpositioning.PositionMe.Traj.Motion_Sample) obj;
 
       boolean result = true;
       result = result && (getRelativeTimestamp()
           == other.getRelativeTimestamp());
       result = result && (
-          Float.floatToIntBits(getAccX())
-          == Float.floatToIntBits(
+          java.lang.Float.floatToIntBits(getAccX())
+          == java.lang.Float.floatToIntBits(
               other.getAccX()));
       result = result && (
-          Float.floatToIntBits(getAccY())
-          == Float.floatToIntBits(
+          java.lang.Float.floatToIntBits(getAccY())
+          == java.lang.Float.floatToIntBits(
               other.getAccY()));
       result = result && (
-          Float.floatToIntBits(getAccZ())
-          == Float.floatToIntBits(
+          java.lang.Float.floatToIntBits(getAccZ())
+          == java.lang.Float.floatToIntBits(
               other.getAccZ()));
       result = result && (
-          Float.floatToIntBits(getGyrX())
-          == Float.floatToIntBits(
+          java.lang.Float.floatToIntBits(getGyrX())
+          == java.lang.Float.floatToIntBits(
               other.getGyrX()));
       result = result && (
-          Float.floatToIntBits(getGyrY())
-          == Float.floatToIntBits(
+          java.lang.Float.floatToIntBits(getGyrY())
+          == java.lang.Float.floatToIntBits(
               other.getGyrY()));
       result = result && (
-          Float.floatToIntBits(getGyrZ())
-          == Float.floatToIntBits(
+          java.lang.Float.floatToIntBits(getGyrZ())
+          == java.lang.Float.floatToIntBits(
               other.getGyrZ()));
       result = result && (
-          Float.floatToIntBits(getRotationVectorX())
-          == Float.floatToIntBits(
+          java.lang.Float.floatToIntBits(getRotationVectorX())
+          == java.lang.Float.floatToIntBits(
               other.getRotationVectorX()));
       result = result && (
-          Float.floatToIntBits(getRotationVectorY())
-          == Float.floatToIntBits(
+          java.lang.Float.floatToIntBits(getRotationVectorY())
+          == java.lang.Float.floatToIntBits(
               other.getRotationVectorY()));
       result = result && (
-          Float.floatToIntBits(getRotationVectorZ())
-          == Float.floatToIntBits(
+          java.lang.Float.floatToIntBits(getRotationVectorZ())
+          == java.lang.Float.floatToIntBits(
               other.getRotationVectorZ()));
       result = result && (
-          Float.floatToIntBits(getRotationVectorW())
-          == Float.floatToIntBits(
+          java.lang.Float.floatToIntBits(getRotationVectorW())
+          == java.lang.Float.floatToIntBits(
               other.getRotationVectorW()));
       result = result && (getStepCount()
           == other.getStepCount());
       return result;
     }
 
-    @Override
+    @java.lang.Override
     public int hashCode() {
       if (memoizedHashCode != 0) {
         return memoizedHashCode;
@@ -6006,34 +6570,34 @@ public int hashCode() {
       hash = (53 * hash) + com.google.protobuf.Internal.hashLong(
           getRelativeTimestamp());
       hash = (37 * hash) + ACC_X_FIELD_NUMBER;
-      hash = (53 * hash) + Float.floatToIntBits(
+      hash = (53 * hash) + java.lang.Float.floatToIntBits(
           getAccX());
       hash = (37 * hash) + ACC_Y_FIELD_NUMBER;
-      hash = (53 * hash) + Float.floatToIntBits(
+      hash = (53 * hash) + java.lang.Float.floatToIntBits(
           getAccY());
       hash = (37 * hash) + ACC_Z_FIELD_NUMBER;
-      hash = (53 * hash) + Float.floatToIntBits(
+      hash = (53 * hash) + java.lang.Float.floatToIntBits(
           getAccZ());
       hash = (37 * hash) + GYR_X_FIELD_NUMBER;
-      hash = (53 * hash) + Float.floatToIntBits(
+      hash = (53 * hash) + java.lang.Float.floatToIntBits(
           getGyrX());
       hash = (37 * hash) + GYR_Y_FIELD_NUMBER;
-      hash = (53 * hash) + Float.floatToIntBits(
+      hash = (53 * hash) + java.lang.Float.floatToIntBits(
           getGyrY());
       hash = (37 * hash) + GYR_Z_FIELD_NUMBER;
-      hash = (53 * hash) + Float.floatToIntBits(
+      hash = (53 * hash) + java.lang.Float.floatToIntBits(
           getGyrZ());
       hash = (37 * hash) + ROTATION_VECTOR_X_FIELD_NUMBER;
-      hash = (53 * hash) + Float.floatToIntBits(
+      hash = (53 * hash) + java.lang.Float.floatToIntBits(
           getRotationVectorX());
       hash = (37 * hash) + ROTATION_VECTOR_Y_FIELD_NUMBER;
-      hash = (53 * hash) + Float.floatToIntBits(
+      hash = (53 * hash) + java.lang.Float.floatToIntBits(
           getRotationVectorY());
       hash = (37 * hash) + ROTATION_VECTOR_Z_FIELD_NUMBER;
-      hash = (53 * hash) + Float.floatToIntBits(
+      hash = (53 * hash) + java.lang.Float.floatToIntBits(
           getRotationVectorZ());
       hash = (37 * hash) + ROTATION_VECTOR_W_FIELD_NUMBER;
-      hash = (53 * hash) + Float.floatToIntBits(
+      hash = (53 * hash) + java.lang.Float.floatToIntBits(
           getRotationVectorW());
       hash = (37 * hash) + STEP_COUNT_FIELD_NUMBER;
       hash = (53 * hash) + getStepCount();
@@ -6042,58 +6606,58 @@ public int hashCode() {
       return hash;
     }
 
-    public static Motion_Sample parseFrom(
+    public static com.openpositioning.PositionMe.Traj.Motion_Sample parseFrom(
         com.google.protobuf.ByteString data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static Motion_Sample parseFrom(
+    public static com.openpositioning.PositionMe.Traj.Motion_Sample parseFrom(
         com.google.protobuf.ByteString data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static Motion_Sample parseFrom(byte[] data)
+    public static com.openpositioning.PositionMe.Traj.Motion_Sample parseFrom(byte[] data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static Motion_Sample parseFrom(
+    public static com.openpositioning.PositionMe.Traj.Motion_Sample parseFrom(
         byte[] data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static Motion_Sample parseFrom(java.io.InputStream input)
+    public static com.openpositioning.PositionMe.Traj.Motion_Sample parseFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input);
     }
-    public static Motion_Sample parseFrom(
+    public static com.openpositioning.PositionMe.Traj.Motion_Sample parseFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input, extensionRegistry);
     }
-    public static Motion_Sample parseDelimitedFrom(java.io.InputStream input)
+    public static com.openpositioning.PositionMe.Traj.Motion_Sample parseDelimitedFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseDelimitedWithIOException(PARSER, input);
     }
-    public static Motion_Sample parseDelimitedFrom(
+    public static com.openpositioning.PositionMe.Traj.Motion_Sample parseDelimitedFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
     }
-    public static Motion_Sample parseFrom(
+    public static com.openpositioning.PositionMe.Traj.Motion_Sample parseFrom(
         com.google.protobuf.CodedInputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input);
     }
-    public static Motion_Sample parseFrom(
+    public static com.openpositioning.PositionMe.Traj.Motion_Sample parseFrom(
         com.google.protobuf.CodedInputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
@@ -6105,7 +6669,7 @@ public static Motion_Sample parseFrom(
     public static Builder newBuilder() {
       return DEFAULT_INSTANCE.toBuilder();
     }
-    public static Builder newBuilder(Motion_Sample prototype) {
+    public static Builder newBuilder(com.openpositioning.PositionMe.Traj.Motion_Sample prototype) {
       return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
     }
     public Builder toBuilder() {
@@ -6113,7 +6677,7 @@ public Builder toBuilder() {
           ? new Builder() : new Builder().mergeFrom(this);
     }
 
-    @Override
+    @java.lang.Override
     protected Builder newBuilderForType(
         com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
       Builder builder = new Builder(parent);
@@ -6125,20 +6689,20 @@ protected Builder newBuilderForType(
     public static final class Builder extends
         com.google.protobuf.GeneratedMessageV3.Builder<Builder> implements
         // @@protoc_insertion_point(builder_implements:Motion_Sample)
-        Motion_SampleOrBuilder {
+        com.openpositioning.PositionMe.Traj.Motion_SampleOrBuilder {
       public static final com.google.protobuf.Descriptors.Descriptor
           getDescriptor() {
-        return Traj.internal_static_Motion_Sample_descriptor;
+        return com.openpositioning.PositionMe.Traj.internal_static_Motion_Sample_descriptor;
       }
 
       protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
           internalGetFieldAccessorTable() {
-        return Traj.internal_static_Motion_Sample_fieldAccessorTable
+        return com.openpositioning.PositionMe.Traj.internal_static_Motion_Sample_fieldAccessorTable
             .ensureFieldAccessorsInitialized(
-                Motion_Sample.class, Builder.class);
+                com.openpositioning.PositionMe.Traj.Motion_Sample.class, com.openpositioning.PositionMe.Traj.Motion_Sample.Builder.class);
       }
 
-      // Construct using Traj.Motion_Sample.newBuilder()
+      // Construct using com.openpositioning.PositionMe.Traj.Motion_Sample.newBuilder()
       private Builder() {
         maybeForceBuilderInitialization();
       }
@@ -6184,23 +6748,23 @@ public Builder clear() {
 
       public com.google.protobuf.Descriptors.Descriptor
           getDescriptorForType() {
-        return Traj.internal_static_Motion_Sample_descriptor;
+        return com.openpositioning.PositionMe.Traj.internal_static_Motion_Sample_descriptor;
       }
 
-      public Motion_Sample getDefaultInstanceForType() {
-        return Motion_Sample.getDefaultInstance();
+      public com.openpositioning.PositionMe.Traj.Motion_Sample getDefaultInstanceForType() {
+        return com.openpositioning.PositionMe.Traj.Motion_Sample.getDefaultInstance();
       }
 
-      public Motion_Sample build() {
-        Motion_Sample result = buildPartial();
+      public com.openpositioning.PositionMe.Traj.Motion_Sample build() {
+        com.openpositioning.PositionMe.Traj.Motion_Sample result = buildPartial();
         if (!result.isInitialized()) {
           throw newUninitializedMessageException(result);
         }
         return result;
       }
 
-      public Motion_Sample buildPartial() {
-        Motion_Sample result = new Motion_Sample(this);
+      public com.openpositioning.PositionMe.Traj.Motion_Sample buildPartial() {
+        com.openpositioning.PositionMe.Traj.Motion_Sample result = new com.openpositioning.PositionMe.Traj.Motion_Sample(this);
         result.relativeTimestamp_ = relativeTimestamp_;
         result.accX_ = accX_;
         result.accY_ = accY_;
@@ -6244,16 +6808,16 @@ public Builder addRepeatedField(
         return (Builder) super.addRepeatedField(field, value);
       }
       public Builder mergeFrom(com.google.protobuf.Message other) {
-        if (other instanceof Motion_Sample) {
-          return mergeFrom((Motion_Sample)other);
+        if (other instanceof com.openpositioning.PositionMe.Traj.Motion_Sample) {
+          return mergeFrom((com.openpositioning.PositionMe.Traj.Motion_Sample)other);
         } else {
           super.mergeFrom(other);
           return this;
         }
       }
 
-      public Builder mergeFrom(Motion_Sample other) {
-        if (other == Motion_Sample.getDefaultInstance()) return this;
+      public Builder mergeFrom(com.openpositioning.PositionMe.Traj.Motion_Sample other) {
+        if (other == com.openpositioning.PositionMe.Traj.Motion_Sample.getDefaultInstance()) return this;
         if (other.getRelativeTimestamp() != 0L) {
           setRelativeTimestamp(other.getRelativeTimestamp());
         }
@@ -6302,11 +6866,11 @@ public Builder mergeFrom(
           com.google.protobuf.CodedInputStream input,
           com.google.protobuf.ExtensionRegistryLite extensionRegistry)
           throws java.io.IOException {
-        Motion_Sample parsedMessage = null;
+        com.openpositioning.PositionMe.Traj.Motion_Sample parsedMessage = null;
         try {
           parsedMessage = PARSER.parsePartialFrom(input, extensionRegistry);
         } catch (com.google.protobuf.InvalidProtocolBufferException e) {
-          parsedMessage = (Motion_Sample) e.getUnfinishedMessage();
+          parsedMessage = (com.openpositioning.PositionMe.Traj.Motion_Sample) e.getUnfinishedMessage();
           throw e.unwrapIOException();
         } finally {
           if (parsedMessage != null) {
@@ -6702,12 +7266,12 @@ public final Builder mergeUnknownFields(
     }
 
     // @@protoc_insertion_point(class_scope:Motion_Sample)
-    private static final Motion_Sample DEFAULT_INSTANCE;
+    private static final com.openpositioning.PositionMe.Traj.Motion_Sample DEFAULT_INSTANCE;
     static {
-      DEFAULT_INSTANCE = new Motion_Sample();
+      DEFAULT_INSTANCE = new com.openpositioning.PositionMe.Traj.Motion_Sample();
     }
 
-    public static Motion_Sample getDefaultInstance() {
+    public static com.openpositioning.PositionMe.Traj.Motion_Sample getDefaultInstance() {
       return DEFAULT_INSTANCE;
     }
 
@@ -6725,12 +7289,12 @@ public static com.google.protobuf.Parser<Motion_Sample> parser() {
       return PARSER;
     }
 
-    @Override
+    @java.lang.Override
     public com.google.protobuf.Parser<Motion_Sample> getParserForType() {
       return PARSER;
     }
 
-    public Motion_Sample getDefaultInstanceForType() {
+    public com.openpositioning.PositionMe.Traj.Motion_Sample getDefaultInstanceForType() {
       return DEFAULT_INSTANCE;
     }
 
@@ -6782,7 +7346,7 @@ private Position_Sample() {
       magZ_ = 0F;
     }
 
-    @Override
+    @java.lang.Override
     public final com.google.protobuf.UnknownFieldSet
     getUnknownFields() {
       return com.google.protobuf.UnknownFieldSet.getDefaultInstance();
@@ -6840,14 +7404,14 @@ private Position_Sample(
     }
     public static final com.google.protobuf.Descriptors.Descriptor
         getDescriptor() {
-      return Traj.internal_static_Position_Sample_descriptor;
+      return com.openpositioning.PositionMe.Traj.internal_static_Position_Sample_descriptor;
     }
 
     protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
         internalGetFieldAccessorTable() {
-      return Traj.internal_static_Position_Sample_fieldAccessorTable
+      return com.openpositioning.PositionMe.Traj.internal_static_Position_Sample_fieldAccessorTable
           .ensureFieldAccessorsInitialized(
-              Position_Sample.class, Builder.class);
+              com.openpositioning.PositionMe.Traj.Position_Sample.class, com.openpositioning.PositionMe.Traj.Position_Sample.Builder.class);
     }
 
     public static final int RELATIVE_TIMESTAMP_FIELD_NUMBER = 1;
@@ -6942,35 +7506,35 @@ public int getSerializedSize() {
     }
 
     private static final long serialVersionUID = 0L;
-    @Override
-    public boolean equals(final Object obj) {
+    @java.lang.Override
+    public boolean equals(final java.lang.Object obj) {
       if (obj == this) {
        return true;
       }
-      if (!(obj instanceof Position_Sample)) {
+      if (!(obj instanceof com.openpositioning.PositionMe.Traj.Position_Sample)) {
         return super.equals(obj);
       }
-      Position_Sample other = (Position_Sample) obj;
+      com.openpositioning.PositionMe.Traj.Position_Sample other = (com.openpositioning.PositionMe.Traj.Position_Sample) obj;
 
       boolean result = true;
       result = result && (getRelativeTimestamp()
           == other.getRelativeTimestamp());
       result = result && (
-          Float.floatToIntBits(getMagX())
-          == Float.floatToIntBits(
+          java.lang.Float.floatToIntBits(getMagX())
+          == java.lang.Float.floatToIntBits(
               other.getMagX()));
       result = result && (
-          Float.floatToIntBits(getMagY())
-          == Float.floatToIntBits(
+          java.lang.Float.floatToIntBits(getMagY())
+          == java.lang.Float.floatToIntBits(
               other.getMagY()));
       result = result && (
-          Float.floatToIntBits(getMagZ())
-          == Float.floatToIntBits(
+          java.lang.Float.floatToIntBits(getMagZ())
+          == java.lang.Float.floatToIntBits(
               other.getMagZ()));
       return result;
     }
 
-    @Override
+    @java.lang.Override
     public int hashCode() {
       if (memoizedHashCode != 0) {
         return memoizedHashCode;
@@ -6981,71 +7545,71 @@ public int hashCode() {
       hash = (53 * hash) + com.google.protobuf.Internal.hashLong(
           getRelativeTimestamp());
       hash = (37 * hash) + MAG_X_FIELD_NUMBER;
-      hash = (53 * hash) + Float.floatToIntBits(
+      hash = (53 * hash) + java.lang.Float.floatToIntBits(
           getMagX());
       hash = (37 * hash) + MAG_Y_FIELD_NUMBER;
-      hash = (53 * hash) + Float.floatToIntBits(
+      hash = (53 * hash) + java.lang.Float.floatToIntBits(
           getMagY());
       hash = (37 * hash) + MAG_Z_FIELD_NUMBER;
-      hash = (53 * hash) + Float.floatToIntBits(
+      hash = (53 * hash) + java.lang.Float.floatToIntBits(
           getMagZ());
       hash = (29 * hash) + unknownFields.hashCode();
       memoizedHashCode = hash;
       return hash;
     }
 
-    public static Position_Sample parseFrom(
+    public static com.openpositioning.PositionMe.Traj.Position_Sample parseFrom(
         com.google.protobuf.ByteString data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static Position_Sample parseFrom(
+    public static com.openpositioning.PositionMe.Traj.Position_Sample parseFrom(
         com.google.protobuf.ByteString data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static Position_Sample parseFrom(byte[] data)
+    public static com.openpositioning.PositionMe.Traj.Position_Sample parseFrom(byte[] data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static Position_Sample parseFrom(
+    public static com.openpositioning.PositionMe.Traj.Position_Sample parseFrom(
         byte[] data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static Position_Sample parseFrom(java.io.InputStream input)
+    public static com.openpositioning.PositionMe.Traj.Position_Sample parseFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input);
     }
-    public static Position_Sample parseFrom(
+    public static com.openpositioning.PositionMe.Traj.Position_Sample parseFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input, extensionRegistry);
     }
-    public static Position_Sample parseDelimitedFrom(java.io.InputStream input)
+    public static com.openpositioning.PositionMe.Traj.Position_Sample parseDelimitedFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseDelimitedWithIOException(PARSER, input);
     }
-    public static Position_Sample parseDelimitedFrom(
+    public static com.openpositioning.PositionMe.Traj.Position_Sample parseDelimitedFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
     }
-    public static Position_Sample parseFrom(
+    public static com.openpositioning.PositionMe.Traj.Position_Sample parseFrom(
         com.google.protobuf.CodedInputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input);
     }
-    public static Position_Sample parseFrom(
+    public static com.openpositioning.PositionMe.Traj.Position_Sample parseFrom(
         com.google.protobuf.CodedInputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
@@ -7057,7 +7621,7 @@ public static Position_Sample parseFrom(
     public static Builder newBuilder() {
       return DEFAULT_INSTANCE.toBuilder();
     }
-    public static Builder newBuilder(Position_Sample prototype) {
+    public static Builder newBuilder(com.openpositioning.PositionMe.Traj.Position_Sample prototype) {
       return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
     }
     public Builder toBuilder() {
@@ -7065,7 +7629,7 @@ public Builder toBuilder() {
           ? new Builder() : new Builder().mergeFrom(this);
     }
 
-    @Override
+    @java.lang.Override
     protected Builder newBuilderForType(
         com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
       Builder builder = new Builder(parent);
@@ -7077,20 +7641,20 @@ protected Builder newBuilderForType(
     public static final class Builder extends
         com.google.protobuf.GeneratedMessageV3.Builder<Builder> implements
         // @@protoc_insertion_point(builder_implements:Position_Sample)
-        Position_SampleOrBuilder {
+        com.openpositioning.PositionMe.Traj.Position_SampleOrBuilder {
       public static final com.google.protobuf.Descriptors.Descriptor
           getDescriptor() {
-        return Traj.internal_static_Position_Sample_descriptor;
+        return com.openpositioning.PositionMe.Traj.internal_static_Position_Sample_descriptor;
       }
 
       protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
           internalGetFieldAccessorTable() {
-        return Traj.internal_static_Position_Sample_fieldAccessorTable
+        return com.openpositioning.PositionMe.Traj.internal_static_Position_Sample_fieldAccessorTable
             .ensureFieldAccessorsInitialized(
-                Position_Sample.class, Builder.class);
+                com.openpositioning.PositionMe.Traj.Position_Sample.class, com.openpositioning.PositionMe.Traj.Position_Sample.Builder.class);
       }
 
-      // Construct using Traj.Position_Sample.newBuilder()
+      // Construct using com.openpositioning.PositionMe.Traj.Position_Sample.newBuilder()
       private Builder() {
         maybeForceBuilderInitialization();
       }
@@ -7120,23 +7684,23 @@ public Builder clear() {
 
       public com.google.protobuf.Descriptors.Descriptor
           getDescriptorForType() {
-        return Traj.internal_static_Position_Sample_descriptor;
+        return com.openpositioning.PositionMe.Traj.internal_static_Position_Sample_descriptor;
       }
 
-      public Position_Sample getDefaultInstanceForType() {
-        return Position_Sample.getDefaultInstance();
+      public com.openpositioning.PositionMe.Traj.Position_Sample getDefaultInstanceForType() {
+        return com.openpositioning.PositionMe.Traj.Position_Sample.getDefaultInstance();
       }
 
-      public Position_Sample build() {
-        Position_Sample result = buildPartial();
+      public com.openpositioning.PositionMe.Traj.Position_Sample build() {
+        com.openpositioning.PositionMe.Traj.Position_Sample result = buildPartial();
         if (!result.isInitialized()) {
           throw newUninitializedMessageException(result);
         }
         return result;
       }
 
-      public Position_Sample buildPartial() {
-        Position_Sample result = new Position_Sample(this);
+      public com.openpositioning.PositionMe.Traj.Position_Sample buildPartial() {
+        com.openpositioning.PositionMe.Traj.Position_Sample result = new com.openpositioning.PositionMe.Traj.Position_Sample(this);
         result.relativeTimestamp_ = relativeTimestamp_;
         result.magX_ = magX_;
         result.magY_ = magY_;
@@ -7172,16 +7736,16 @@ public Builder addRepeatedField(
         return (Builder) super.addRepeatedField(field, value);
       }
       public Builder mergeFrom(com.google.protobuf.Message other) {
-        if (other instanceof Position_Sample) {
-          return mergeFrom((Position_Sample)other);
+        if (other instanceof com.openpositioning.PositionMe.Traj.Position_Sample) {
+          return mergeFrom((com.openpositioning.PositionMe.Traj.Position_Sample)other);
         } else {
           super.mergeFrom(other);
           return this;
         }
       }
 
-      public Builder mergeFrom(Position_Sample other) {
-        if (other == Position_Sample.getDefaultInstance()) return this;
+      public Builder mergeFrom(com.openpositioning.PositionMe.Traj.Position_Sample other) {
+        if (other == com.openpositioning.PositionMe.Traj.Position_Sample.getDefaultInstance()) return this;
         if (other.getRelativeTimestamp() != 0L) {
           setRelativeTimestamp(other.getRelativeTimestamp());
         }
@@ -7206,11 +7770,11 @@ public Builder mergeFrom(
           com.google.protobuf.CodedInputStream input,
           com.google.protobuf.ExtensionRegistryLite extensionRegistry)
           throws java.io.IOException {
-        Position_Sample parsedMessage = null;
+        com.openpositioning.PositionMe.Traj.Position_Sample parsedMessage = null;
         try {
           parsedMessage = PARSER.parsePartialFrom(input, extensionRegistry);
         } catch (com.google.protobuf.InvalidProtocolBufferException e) {
-          parsedMessage = (Position_Sample) e.getUnfinishedMessage();
+          parsedMessage = (com.openpositioning.PositionMe.Traj.Position_Sample) e.getUnfinishedMessage();
           throw e.unwrapIOException();
         } finally {
           if (parsedMessage != null) {
@@ -7350,12 +7914,12 @@ public final Builder mergeUnknownFields(
     }
 
     // @@protoc_insertion_point(class_scope:Position_Sample)
-    private static final Position_Sample DEFAULT_INSTANCE;
+    private static final com.openpositioning.PositionMe.Traj.Position_Sample DEFAULT_INSTANCE;
     static {
-      DEFAULT_INSTANCE = new Position_Sample();
+      DEFAULT_INSTANCE = new com.openpositioning.PositionMe.Traj.Position_Sample();
     }
 
-    public static Position_Sample getDefaultInstance() {
+    public static com.openpositioning.PositionMe.Traj.Position_Sample getDefaultInstance() {
       return DEFAULT_INSTANCE;
     }
 
@@ -7373,12 +7937,12 @@ public static com.google.protobuf.Parser<Position_Sample> parser() {
       return PARSER;
     }
 
-    @Override
+    @java.lang.Override
     public com.google.protobuf.Parser<Position_Sample> getParserForType() {
       return PARSER;
     }
 
-    public Position_Sample getDefaultInstanceForType() {
+    public com.openpositioning.PositionMe.Traj.Position_Sample getDefaultInstanceForType() {
       return DEFAULT_INSTANCE;
     }
 
@@ -7418,7 +7982,7 @@ private Pressure_Sample() {
       pressure_ = 0F;
     }
 
-    @Override
+    @java.lang.Override
     public final com.google.protobuf.UnknownFieldSet
     getUnknownFields() {
       return com.google.protobuf.UnknownFieldSet.getDefaultInstance();
@@ -7466,14 +8030,14 @@ private Pressure_Sample(
     }
     public static final com.google.protobuf.Descriptors.Descriptor
         getDescriptor() {
-      return Traj.internal_static_Pressure_Sample_descriptor;
+      return com.openpositioning.PositionMe.Traj.internal_static_Pressure_Sample_descriptor;
     }
 
     protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
         internalGetFieldAccessorTable() {
-      return Traj.internal_static_Pressure_Sample_fieldAccessorTable
+      return com.openpositioning.PositionMe.Traj.internal_static_Pressure_Sample_fieldAccessorTable
           .ensureFieldAccessorsInitialized(
-              Pressure_Sample.class, Builder.class);
+              com.openpositioning.PositionMe.Traj.Pressure_Sample.class, com.openpositioning.PositionMe.Traj.Pressure_Sample.Builder.class);
     }
 
     public static final int RELATIVE_TIMESTAMP_FIELD_NUMBER = 1;
@@ -7536,27 +8100,27 @@ public int getSerializedSize() {
     }
 
     private static final long serialVersionUID = 0L;
-    @Override
-    public boolean equals(final Object obj) {
+    @java.lang.Override
+    public boolean equals(final java.lang.Object obj) {
       if (obj == this) {
        return true;
       }
-      if (!(obj instanceof Pressure_Sample)) {
+      if (!(obj instanceof com.openpositioning.PositionMe.Traj.Pressure_Sample)) {
         return super.equals(obj);
       }
-      Pressure_Sample other = (Pressure_Sample) obj;
+      com.openpositioning.PositionMe.Traj.Pressure_Sample other = (com.openpositioning.PositionMe.Traj.Pressure_Sample) obj;
 
       boolean result = true;
       result = result && (getRelativeTimestamp()
           == other.getRelativeTimestamp());
       result = result && (
-          Float.floatToIntBits(getPressure())
-          == Float.floatToIntBits(
+          java.lang.Float.floatToIntBits(getPressure())
+          == java.lang.Float.floatToIntBits(
               other.getPressure()));
       return result;
     }
 
-    @Override
+    @java.lang.Override
     public int hashCode() {
       if (memoizedHashCode != 0) {
         return memoizedHashCode;
@@ -7567,65 +8131,65 @@ public int hashCode() {
       hash = (53 * hash) + com.google.protobuf.Internal.hashLong(
           getRelativeTimestamp());
       hash = (37 * hash) + PRESSURE_FIELD_NUMBER;
-      hash = (53 * hash) + Float.floatToIntBits(
+      hash = (53 * hash) + java.lang.Float.floatToIntBits(
           getPressure());
       hash = (29 * hash) + unknownFields.hashCode();
       memoizedHashCode = hash;
       return hash;
     }
 
-    public static Pressure_Sample parseFrom(
+    public static com.openpositioning.PositionMe.Traj.Pressure_Sample parseFrom(
         com.google.protobuf.ByteString data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static Pressure_Sample parseFrom(
+    public static com.openpositioning.PositionMe.Traj.Pressure_Sample parseFrom(
         com.google.protobuf.ByteString data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static Pressure_Sample parseFrom(byte[] data)
+    public static com.openpositioning.PositionMe.Traj.Pressure_Sample parseFrom(byte[] data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static Pressure_Sample parseFrom(
+    public static com.openpositioning.PositionMe.Traj.Pressure_Sample parseFrom(
         byte[] data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static Pressure_Sample parseFrom(java.io.InputStream input)
+    public static com.openpositioning.PositionMe.Traj.Pressure_Sample parseFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input);
     }
-    public static Pressure_Sample parseFrom(
+    public static com.openpositioning.PositionMe.Traj.Pressure_Sample parseFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input, extensionRegistry);
     }
-    public static Pressure_Sample parseDelimitedFrom(java.io.InputStream input)
+    public static com.openpositioning.PositionMe.Traj.Pressure_Sample parseDelimitedFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseDelimitedWithIOException(PARSER, input);
     }
-    public static Pressure_Sample parseDelimitedFrom(
+    public static com.openpositioning.PositionMe.Traj.Pressure_Sample parseDelimitedFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
     }
-    public static Pressure_Sample parseFrom(
+    public static com.openpositioning.PositionMe.Traj.Pressure_Sample parseFrom(
         com.google.protobuf.CodedInputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input);
     }
-    public static Pressure_Sample parseFrom(
+    public static com.openpositioning.PositionMe.Traj.Pressure_Sample parseFrom(
         com.google.protobuf.CodedInputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
@@ -7637,7 +8201,7 @@ public static Pressure_Sample parseFrom(
     public static Builder newBuilder() {
       return DEFAULT_INSTANCE.toBuilder();
     }
-    public static Builder newBuilder(Pressure_Sample prototype) {
+    public static Builder newBuilder(com.openpositioning.PositionMe.Traj.Pressure_Sample prototype) {
       return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
     }
     public Builder toBuilder() {
@@ -7645,7 +8209,7 @@ public Builder toBuilder() {
           ? new Builder() : new Builder().mergeFrom(this);
     }
 
-    @Override
+    @java.lang.Override
     protected Builder newBuilderForType(
         com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
       Builder builder = new Builder(parent);
@@ -7657,20 +8221,20 @@ protected Builder newBuilderForType(
     public static final class Builder extends
         com.google.protobuf.GeneratedMessageV3.Builder<Builder> implements
         // @@protoc_insertion_point(builder_implements:Pressure_Sample)
-        Pressure_SampleOrBuilder {
+        com.openpositioning.PositionMe.Traj.Pressure_SampleOrBuilder {
       public static final com.google.protobuf.Descriptors.Descriptor
           getDescriptor() {
-        return Traj.internal_static_Pressure_Sample_descriptor;
+        return com.openpositioning.PositionMe.Traj.internal_static_Pressure_Sample_descriptor;
       }
 
       protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
           internalGetFieldAccessorTable() {
-        return Traj.internal_static_Pressure_Sample_fieldAccessorTable
+        return com.openpositioning.PositionMe.Traj.internal_static_Pressure_Sample_fieldAccessorTable
             .ensureFieldAccessorsInitialized(
-                Pressure_Sample.class, Builder.class);
+                com.openpositioning.PositionMe.Traj.Pressure_Sample.class, com.openpositioning.PositionMe.Traj.Pressure_Sample.Builder.class);
       }
 
-      // Construct using Traj.Pressure_Sample.newBuilder()
+      // Construct using com.openpositioning.PositionMe.Traj.Pressure_Sample.newBuilder()
       private Builder() {
         maybeForceBuilderInitialization();
       }
@@ -7696,23 +8260,23 @@ public Builder clear() {
 
       public com.google.protobuf.Descriptors.Descriptor
           getDescriptorForType() {
-        return Traj.internal_static_Pressure_Sample_descriptor;
+        return com.openpositioning.PositionMe.Traj.internal_static_Pressure_Sample_descriptor;
       }
 
-      public Pressure_Sample getDefaultInstanceForType() {
-        return Pressure_Sample.getDefaultInstance();
+      public com.openpositioning.PositionMe.Traj.Pressure_Sample getDefaultInstanceForType() {
+        return com.openpositioning.PositionMe.Traj.Pressure_Sample.getDefaultInstance();
       }
 
-      public Pressure_Sample build() {
-        Pressure_Sample result = buildPartial();
+      public com.openpositioning.PositionMe.Traj.Pressure_Sample build() {
+        com.openpositioning.PositionMe.Traj.Pressure_Sample result = buildPartial();
         if (!result.isInitialized()) {
           throw newUninitializedMessageException(result);
         }
         return result;
       }
 
-      public Pressure_Sample buildPartial() {
-        Pressure_Sample result = new Pressure_Sample(this);
+      public com.openpositioning.PositionMe.Traj.Pressure_Sample buildPartial() {
+        com.openpositioning.PositionMe.Traj.Pressure_Sample result = new com.openpositioning.PositionMe.Traj.Pressure_Sample(this);
         result.relativeTimestamp_ = relativeTimestamp_;
         result.pressure_ = pressure_;
         onBuilt();
@@ -7746,16 +8310,16 @@ public Builder addRepeatedField(
         return (Builder) super.addRepeatedField(field, value);
       }
       public Builder mergeFrom(com.google.protobuf.Message other) {
-        if (other instanceof Pressure_Sample) {
-          return mergeFrom((Pressure_Sample)other);
+        if (other instanceof com.openpositioning.PositionMe.Traj.Pressure_Sample) {
+          return mergeFrom((com.openpositioning.PositionMe.Traj.Pressure_Sample)other);
         } else {
           super.mergeFrom(other);
           return this;
         }
       }
 
-      public Builder mergeFrom(Pressure_Sample other) {
-        if (other == Pressure_Sample.getDefaultInstance()) return this;
+      public Builder mergeFrom(com.openpositioning.PositionMe.Traj.Pressure_Sample other) {
+        if (other == com.openpositioning.PositionMe.Traj.Pressure_Sample.getDefaultInstance()) return this;
         if (other.getRelativeTimestamp() != 0L) {
           setRelativeTimestamp(other.getRelativeTimestamp());
         }
@@ -7774,11 +8338,11 @@ public Builder mergeFrom(
           com.google.protobuf.CodedInputStream input,
           com.google.protobuf.ExtensionRegistryLite extensionRegistry)
           throws java.io.IOException {
-        Pressure_Sample parsedMessage = null;
+        com.openpositioning.PositionMe.Traj.Pressure_Sample parsedMessage = null;
         try {
           parsedMessage = PARSER.parsePartialFrom(input, extensionRegistry);
         } catch (com.google.protobuf.InvalidProtocolBufferException e) {
-          parsedMessage = (Pressure_Sample) e.getUnfinishedMessage();
+          parsedMessage = (com.openpositioning.PositionMe.Traj.Pressure_Sample) e.getUnfinishedMessage();
           throw e.unwrapIOException();
         } finally {
           if (parsedMessage != null) {
@@ -7866,12 +8430,12 @@ public final Builder mergeUnknownFields(
     }
 
     // @@protoc_insertion_point(class_scope:Pressure_Sample)
-    private static final Pressure_Sample DEFAULT_INSTANCE;
+    private static final com.openpositioning.PositionMe.Traj.Pressure_Sample DEFAULT_INSTANCE;
     static {
-      DEFAULT_INSTANCE = new Pressure_Sample();
+      DEFAULT_INSTANCE = new com.openpositioning.PositionMe.Traj.Pressure_Sample();
     }
 
-    public static Pressure_Sample getDefaultInstance() {
+    public static com.openpositioning.PositionMe.Traj.Pressure_Sample getDefaultInstance() {
       return DEFAULT_INSTANCE;
     }
 
@@ -7889,12 +8453,12 @@ public static com.google.protobuf.Parser<Pressure_Sample> parser() {
       return PARSER;
     }
 
-    @Override
+    @java.lang.Override
     public com.google.protobuf.Parser<Pressure_Sample> getParserForType() {
       return PARSER;
     }
 
-    public Pressure_Sample getDefaultInstanceForType() {
+    public com.openpositioning.PositionMe.Traj.Pressure_Sample getDefaultInstanceForType() {
       return DEFAULT_INSTANCE;
     }
 
@@ -7934,7 +8498,7 @@ private Light_Sample() {
       light_ = 0F;
     }
 
-    @Override
+    @java.lang.Override
     public final com.google.protobuf.UnknownFieldSet
     getUnknownFields() {
       return com.google.protobuf.UnknownFieldSet.getDefaultInstance();
@@ -7982,14 +8546,14 @@ private Light_Sample(
     }
     public static final com.google.protobuf.Descriptors.Descriptor
         getDescriptor() {
-      return Traj.internal_static_Light_Sample_descriptor;
+      return com.openpositioning.PositionMe.Traj.internal_static_Light_Sample_descriptor;
     }
 
     protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
         internalGetFieldAccessorTable() {
-      return Traj.internal_static_Light_Sample_fieldAccessorTable
+      return com.openpositioning.PositionMe.Traj.internal_static_Light_Sample_fieldAccessorTable
           .ensureFieldAccessorsInitialized(
-              Light_Sample.class, Builder.class);
+              com.openpositioning.PositionMe.Traj.Light_Sample.class, com.openpositioning.PositionMe.Traj.Light_Sample.Builder.class);
     }
 
     public static final int RELATIVE_TIMESTAMP_FIELD_NUMBER = 1;
@@ -8052,27 +8616,27 @@ public int getSerializedSize() {
     }
 
     private static final long serialVersionUID = 0L;
-    @Override
-    public boolean equals(final Object obj) {
+    @java.lang.Override
+    public boolean equals(final java.lang.Object obj) {
       if (obj == this) {
        return true;
       }
-      if (!(obj instanceof Light_Sample)) {
+      if (!(obj instanceof com.openpositioning.PositionMe.Traj.Light_Sample)) {
         return super.equals(obj);
       }
-      Light_Sample other = (Light_Sample) obj;
+      com.openpositioning.PositionMe.Traj.Light_Sample other = (com.openpositioning.PositionMe.Traj.Light_Sample) obj;
 
       boolean result = true;
       result = result && (getRelativeTimestamp()
           == other.getRelativeTimestamp());
       result = result && (
-          Float.floatToIntBits(getLight())
-          == Float.floatToIntBits(
+          java.lang.Float.floatToIntBits(getLight())
+          == java.lang.Float.floatToIntBits(
               other.getLight()));
       return result;
     }
 
-    @Override
+    @java.lang.Override
     public int hashCode() {
       if (memoizedHashCode != 0) {
         return memoizedHashCode;
@@ -8083,65 +8647,65 @@ public int hashCode() {
       hash = (53 * hash) + com.google.protobuf.Internal.hashLong(
           getRelativeTimestamp());
       hash = (37 * hash) + LIGHT_FIELD_NUMBER;
-      hash = (53 * hash) + Float.floatToIntBits(
+      hash = (53 * hash) + java.lang.Float.floatToIntBits(
           getLight());
       hash = (29 * hash) + unknownFields.hashCode();
       memoizedHashCode = hash;
       return hash;
     }
 
-    public static Light_Sample parseFrom(
+    public static com.openpositioning.PositionMe.Traj.Light_Sample parseFrom(
         com.google.protobuf.ByteString data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static Light_Sample parseFrom(
+    public static com.openpositioning.PositionMe.Traj.Light_Sample parseFrom(
         com.google.protobuf.ByteString data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static Light_Sample parseFrom(byte[] data)
+    public static com.openpositioning.PositionMe.Traj.Light_Sample parseFrom(byte[] data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static Light_Sample parseFrom(
+    public static com.openpositioning.PositionMe.Traj.Light_Sample parseFrom(
         byte[] data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static Light_Sample parseFrom(java.io.InputStream input)
+    public static com.openpositioning.PositionMe.Traj.Light_Sample parseFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input);
     }
-    public static Light_Sample parseFrom(
+    public static com.openpositioning.PositionMe.Traj.Light_Sample parseFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input, extensionRegistry);
     }
-    public static Light_Sample parseDelimitedFrom(java.io.InputStream input)
+    public static com.openpositioning.PositionMe.Traj.Light_Sample parseDelimitedFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseDelimitedWithIOException(PARSER, input);
     }
-    public static Light_Sample parseDelimitedFrom(
+    public static com.openpositioning.PositionMe.Traj.Light_Sample parseDelimitedFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
     }
-    public static Light_Sample parseFrom(
+    public static com.openpositioning.PositionMe.Traj.Light_Sample parseFrom(
         com.google.protobuf.CodedInputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input);
     }
-    public static Light_Sample parseFrom(
+    public static com.openpositioning.PositionMe.Traj.Light_Sample parseFrom(
         com.google.protobuf.CodedInputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
@@ -8153,7 +8717,7 @@ public static Light_Sample parseFrom(
     public static Builder newBuilder() {
       return DEFAULT_INSTANCE.toBuilder();
     }
-    public static Builder newBuilder(Light_Sample prototype) {
+    public static Builder newBuilder(com.openpositioning.PositionMe.Traj.Light_Sample prototype) {
       return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
     }
     public Builder toBuilder() {
@@ -8161,7 +8725,7 @@ public Builder toBuilder() {
           ? new Builder() : new Builder().mergeFrom(this);
     }
 
-    @Override
+    @java.lang.Override
     protected Builder newBuilderForType(
         com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
       Builder builder = new Builder(parent);
@@ -8173,20 +8737,20 @@ protected Builder newBuilderForType(
     public static final class Builder extends
         com.google.protobuf.GeneratedMessageV3.Builder<Builder> implements
         // @@protoc_insertion_point(builder_implements:Light_Sample)
-        Light_SampleOrBuilder {
+        com.openpositioning.PositionMe.Traj.Light_SampleOrBuilder {
       public static final com.google.protobuf.Descriptors.Descriptor
           getDescriptor() {
-        return Traj.internal_static_Light_Sample_descriptor;
+        return com.openpositioning.PositionMe.Traj.internal_static_Light_Sample_descriptor;
       }
 
       protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
           internalGetFieldAccessorTable() {
-        return Traj.internal_static_Light_Sample_fieldAccessorTable
+        return com.openpositioning.PositionMe.Traj.internal_static_Light_Sample_fieldAccessorTable
             .ensureFieldAccessorsInitialized(
-                Light_Sample.class, Builder.class);
+                com.openpositioning.PositionMe.Traj.Light_Sample.class, com.openpositioning.PositionMe.Traj.Light_Sample.Builder.class);
       }
 
-      // Construct using Traj.Light_Sample.newBuilder()
+      // Construct using com.openpositioning.PositionMe.Traj.Light_Sample.newBuilder()
       private Builder() {
         maybeForceBuilderInitialization();
       }
@@ -8212,23 +8776,23 @@ public Builder clear() {
 
       public com.google.protobuf.Descriptors.Descriptor
           getDescriptorForType() {
-        return Traj.internal_static_Light_Sample_descriptor;
+        return com.openpositioning.PositionMe.Traj.internal_static_Light_Sample_descriptor;
       }
 
-      public Light_Sample getDefaultInstanceForType() {
-        return Light_Sample.getDefaultInstance();
+      public com.openpositioning.PositionMe.Traj.Light_Sample getDefaultInstanceForType() {
+        return com.openpositioning.PositionMe.Traj.Light_Sample.getDefaultInstance();
       }
 
-      public Light_Sample build() {
-        Light_Sample result = buildPartial();
+      public com.openpositioning.PositionMe.Traj.Light_Sample build() {
+        com.openpositioning.PositionMe.Traj.Light_Sample result = buildPartial();
         if (!result.isInitialized()) {
           throw newUninitializedMessageException(result);
         }
         return result;
       }
 
-      public Light_Sample buildPartial() {
-        Light_Sample result = new Light_Sample(this);
+      public com.openpositioning.PositionMe.Traj.Light_Sample buildPartial() {
+        com.openpositioning.PositionMe.Traj.Light_Sample result = new com.openpositioning.PositionMe.Traj.Light_Sample(this);
         result.relativeTimestamp_ = relativeTimestamp_;
         result.light_ = light_;
         onBuilt();
@@ -8262,16 +8826,16 @@ public Builder addRepeatedField(
         return (Builder) super.addRepeatedField(field, value);
       }
       public Builder mergeFrom(com.google.protobuf.Message other) {
-        if (other instanceof Light_Sample) {
-          return mergeFrom((Light_Sample)other);
+        if (other instanceof com.openpositioning.PositionMe.Traj.Light_Sample) {
+          return mergeFrom((com.openpositioning.PositionMe.Traj.Light_Sample)other);
         } else {
           super.mergeFrom(other);
           return this;
         }
       }
 
-      public Builder mergeFrom(Light_Sample other) {
-        if (other == Light_Sample.getDefaultInstance()) return this;
+      public Builder mergeFrom(com.openpositioning.PositionMe.Traj.Light_Sample other) {
+        if (other == com.openpositioning.PositionMe.Traj.Light_Sample.getDefaultInstance()) return this;
         if (other.getRelativeTimestamp() != 0L) {
           setRelativeTimestamp(other.getRelativeTimestamp());
         }
@@ -8290,11 +8854,11 @@ public Builder mergeFrom(
           com.google.protobuf.CodedInputStream input,
           com.google.protobuf.ExtensionRegistryLite extensionRegistry)
           throws java.io.IOException {
-        Light_Sample parsedMessage = null;
+        com.openpositioning.PositionMe.Traj.Light_Sample parsedMessage = null;
         try {
           parsedMessage = PARSER.parsePartialFrom(input, extensionRegistry);
         } catch (com.google.protobuf.InvalidProtocolBufferException e) {
-          parsedMessage = (Light_Sample) e.getUnfinishedMessage();
+          parsedMessage = (com.openpositioning.PositionMe.Traj.Light_Sample) e.getUnfinishedMessage();
           throw e.unwrapIOException();
         } finally {
           if (parsedMessage != null) {
@@ -8382,12 +8946,12 @@ public final Builder mergeUnknownFields(
     }
 
     // @@protoc_insertion_point(class_scope:Light_Sample)
-    private static final Light_Sample DEFAULT_INSTANCE;
+    private static final com.openpositioning.PositionMe.Traj.Light_Sample DEFAULT_INSTANCE;
     static {
-      DEFAULT_INSTANCE = new Light_Sample();
+      DEFAULT_INSTANCE = new com.openpositioning.PositionMe.Traj.Light_Sample();
     }
 
-    public static Light_Sample getDefaultInstance() {
+    public static com.openpositioning.PositionMe.Traj.Light_Sample getDefaultInstance() {
       return DEFAULT_INSTANCE;
     }
 
@@ -8405,12 +8969,12 @@ public static com.google.protobuf.Parser<Light_Sample> parser() {
       return PARSER;
     }
 
-    @Override
+    @java.lang.Override
     public com.google.protobuf.Parser<Light_Sample> getParserForType() {
       return PARSER;
     }
 
-    public Light_Sample getDefaultInstanceForType() {
+    public com.openpositioning.PositionMe.Traj.Light_Sample getDefaultInstanceForType() {
       return DEFAULT_INSTANCE;
     }
 
@@ -8478,7 +9042,7 @@ public interface GNSS_SampleOrBuilder extends
      *
      * <code>optional string provider = 7;</code>
      */
-    String getProvider();
+    java.lang.String getProvider();
     /**
      * <pre>
      * e.g 'gps' or 'network'
@@ -8510,7 +9074,7 @@ private GNSS_Sample() {
       provider_ = "";
     }
 
-    @Override
+    @java.lang.Override
     public final com.google.protobuf.UnknownFieldSet
     getUnknownFields() {
       return com.google.protobuf.UnknownFieldSet.getDefaultInstance();
@@ -8566,7 +9130,7 @@ private GNSS_Sample(
               break;
             }
             case 58: {
-              String s = input.readStringRequireUtf8();
+              java.lang.String s = input.readStringRequireUtf8();
 
               provider_ = s;
               break;
@@ -8584,14 +9148,14 @@ private GNSS_Sample(
     }
     public static final com.google.protobuf.Descriptors.Descriptor
         getDescriptor() {
-      return Traj.internal_static_GNSS_Sample_descriptor;
+      return com.openpositioning.PositionMe.Traj.internal_static_GNSS_Sample_descriptor;
     }
 
     protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
         internalGetFieldAccessorTable() {
-      return Traj.internal_static_GNSS_Sample_fieldAccessorTable
+      return com.openpositioning.PositionMe.Traj.internal_static_GNSS_Sample_fieldAccessorTable
           .ensureFieldAccessorsInitialized(
-              GNSS_Sample.class, Builder.class);
+              com.openpositioning.PositionMe.Traj.GNSS_Sample.class, com.openpositioning.PositionMe.Traj.GNSS_Sample.Builder.class);
     }
 
     public static final int RELATIVE_TIMESTAMP_FIELD_NUMBER = 1;
@@ -8670,7 +9234,7 @@ public float getSpeed() {
     }
 
     public static final int PROVIDER_FIELD_NUMBER = 7;
-    private volatile Object provider_;
+    private volatile java.lang.Object provider_;
     /**
      * <pre>
      * e.g 'gps' or 'network'
@@ -8678,14 +9242,14 @@ public float getSpeed() {
      *
      * <code>optional string provider = 7;</code>
      */
-    public String getProvider() {
-      Object ref = provider_;
-      if (ref instanceof String) {
-        return (String) ref;
+    public java.lang.String getProvider() {
+      java.lang.Object ref = provider_;
+      if (ref instanceof java.lang.String) {
+        return (java.lang.String) ref;
       } else {
         com.google.protobuf.ByteString bs = 
             (com.google.protobuf.ByteString) ref;
-        String s = bs.toStringUtf8();
+        java.lang.String s = bs.toStringUtf8();
         provider_ = s;
         return s;
       }
@@ -8699,11 +9263,11 @@ public String getProvider() {
      */
     public com.google.protobuf.ByteString
         getProviderBytes() {
-      Object ref = provider_;
-      if (ref instanceof String) {
+      java.lang.Object ref = provider_;
+      if (ref instanceof java.lang.String) {
         com.google.protobuf.ByteString b = 
             com.google.protobuf.ByteString.copyFromUtf8(
-                (String) ref);
+                (java.lang.String) ref);
         provider_ = b;
         return b;
       } else {
@@ -8783,45 +9347,45 @@ public int getSerializedSize() {
     }
 
     private static final long serialVersionUID = 0L;
-    @Override
-    public boolean equals(final Object obj) {
+    @java.lang.Override
+    public boolean equals(final java.lang.Object obj) {
       if (obj == this) {
        return true;
       }
-      if (!(obj instanceof GNSS_Sample)) {
+      if (!(obj instanceof com.openpositioning.PositionMe.Traj.GNSS_Sample)) {
         return super.equals(obj);
       }
-      GNSS_Sample other = (GNSS_Sample) obj;
+      com.openpositioning.PositionMe.Traj.GNSS_Sample other = (com.openpositioning.PositionMe.Traj.GNSS_Sample) obj;
 
       boolean result = true;
       result = result && (getRelativeTimestamp()
           == other.getRelativeTimestamp());
       result = result && (
-          Float.floatToIntBits(getLatitude())
-          == Float.floatToIntBits(
+          java.lang.Float.floatToIntBits(getLatitude())
+          == java.lang.Float.floatToIntBits(
               other.getLatitude()));
       result = result && (
-          Float.floatToIntBits(getLongitude())
-          == Float.floatToIntBits(
+          java.lang.Float.floatToIntBits(getLongitude())
+          == java.lang.Float.floatToIntBits(
               other.getLongitude()));
       result = result && (
-          Float.floatToIntBits(getAltitude())
-          == Float.floatToIntBits(
+          java.lang.Float.floatToIntBits(getAltitude())
+          == java.lang.Float.floatToIntBits(
               other.getAltitude()));
       result = result && (
-          Float.floatToIntBits(getAccuracy())
-          == Float.floatToIntBits(
+          java.lang.Float.floatToIntBits(getAccuracy())
+          == java.lang.Float.floatToIntBits(
               other.getAccuracy()));
       result = result && (
-          Float.floatToIntBits(getSpeed())
-          == Float.floatToIntBits(
+          java.lang.Float.floatToIntBits(getSpeed())
+          == java.lang.Float.floatToIntBits(
               other.getSpeed()));
       result = result && getProvider()
           .equals(other.getProvider());
       return result;
     }
 
-    @Override
+    @java.lang.Override
     public int hashCode() {
       if (memoizedHashCode != 0) {
         return memoizedHashCode;
@@ -8832,19 +9396,19 @@ public int hashCode() {
       hash = (53 * hash) + com.google.protobuf.Internal.hashLong(
           getRelativeTimestamp());
       hash = (37 * hash) + LATITUDE_FIELD_NUMBER;
-      hash = (53 * hash) + Float.floatToIntBits(
+      hash = (53 * hash) + java.lang.Float.floatToIntBits(
           getLatitude());
       hash = (37 * hash) + LONGITUDE_FIELD_NUMBER;
-      hash = (53 * hash) + Float.floatToIntBits(
+      hash = (53 * hash) + java.lang.Float.floatToIntBits(
           getLongitude());
       hash = (37 * hash) + ALTITUDE_FIELD_NUMBER;
-      hash = (53 * hash) + Float.floatToIntBits(
+      hash = (53 * hash) + java.lang.Float.floatToIntBits(
           getAltitude());
       hash = (37 * hash) + ACCURACY_FIELD_NUMBER;
-      hash = (53 * hash) + Float.floatToIntBits(
+      hash = (53 * hash) + java.lang.Float.floatToIntBits(
           getAccuracy());
       hash = (37 * hash) + SPEED_FIELD_NUMBER;
-      hash = (53 * hash) + Float.floatToIntBits(
+      hash = (53 * hash) + java.lang.Float.floatToIntBits(
           getSpeed());
       hash = (37 * hash) + PROVIDER_FIELD_NUMBER;
       hash = (53 * hash) + getProvider().hashCode();
@@ -8853,58 +9417,58 @@ public int hashCode() {
       return hash;
     }
 
-    public static GNSS_Sample parseFrom(
+    public static com.openpositioning.PositionMe.Traj.GNSS_Sample parseFrom(
         com.google.protobuf.ByteString data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static GNSS_Sample parseFrom(
+    public static com.openpositioning.PositionMe.Traj.GNSS_Sample parseFrom(
         com.google.protobuf.ByteString data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static GNSS_Sample parseFrom(byte[] data)
+    public static com.openpositioning.PositionMe.Traj.GNSS_Sample parseFrom(byte[] data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static GNSS_Sample parseFrom(
+    public static com.openpositioning.PositionMe.Traj.GNSS_Sample parseFrom(
         byte[] data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static GNSS_Sample parseFrom(java.io.InputStream input)
+    public static com.openpositioning.PositionMe.Traj.GNSS_Sample parseFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input);
     }
-    public static GNSS_Sample parseFrom(
+    public static com.openpositioning.PositionMe.Traj.GNSS_Sample parseFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input, extensionRegistry);
     }
-    public static GNSS_Sample parseDelimitedFrom(java.io.InputStream input)
+    public static com.openpositioning.PositionMe.Traj.GNSS_Sample parseDelimitedFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseDelimitedWithIOException(PARSER, input);
     }
-    public static GNSS_Sample parseDelimitedFrom(
+    public static com.openpositioning.PositionMe.Traj.GNSS_Sample parseDelimitedFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
     }
-    public static GNSS_Sample parseFrom(
+    public static com.openpositioning.PositionMe.Traj.GNSS_Sample parseFrom(
         com.google.protobuf.CodedInputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input);
     }
-    public static GNSS_Sample parseFrom(
+    public static com.openpositioning.PositionMe.Traj.GNSS_Sample parseFrom(
         com.google.protobuf.CodedInputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
@@ -8916,7 +9480,7 @@ public static GNSS_Sample parseFrom(
     public static Builder newBuilder() {
       return DEFAULT_INSTANCE.toBuilder();
     }
-    public static Builder newBuilder(GNSS_Sample prototype) {
+    public static Builder newBuilder(com.openpositioning.PositionMe.Traj.GNSS_Sample prototype) {
       return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
     }
     public Builder toBuilder() {
@@ -8924,7 +9488,7 @@ public Builder toBuilder() {
           ? new Builder() : new Builder().mergeFrom(this);
     }
 
-    @Override
+    @java.lang.Override
     protected Builder newBuilderForType(
         com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
       Builder builder = new Builder(parent);
@@ -8936,20 +9500,20 @@ protected Builder newBuilderForType(
     public static final class Builder extends
         com.google.protobuf.GeneratedMessageV3.Builder<Builder> implements
         // @@protoc_insertion_point(builder_implements:GNSS_Sample)
-        GNSS_SampleOrBuilder {
+        com.openpositioning.PositionMe.Traj.GNSS_SampleOrBuilder {
       public static final com.google.protobuf.Descriptors.Descriptor
           getDescriptor() {
-        return Traj.internal_static_GNSS_Sample_descriptor;
+        return com.openpositioning.PositionMe.Traj.internal_static_GNSS_Sample_descriptor;
       }
 
       protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
           internalGetFieldAccessorTable() {
-        return Traj.internal_static_GNSS_Sample_fieldAccessorTable
+        return com.openpositioning.PositionMe.Traj.internal_static_GNSS_Sample_fieldAccessorTable
             .ensureFieldAccessorsInitialized(
-                GNSS_Sample.class, Builder.class);
+                com.openpositioning.PositionMe.Traj.GNSS_Sample.class, com.openpositioning.PositionMe.Traj.GNSS_Sample.Builder.class);
       }
 
-      // Construct using Traj.GNSS_Sample.newBuilder()
+      // Construct using com.openpositioning.PositionMe.Traj.GNSS_Sample.newBuilder()
       private Builder() {
         maybeForceBuilderInitialization();
       }
@@ -8985,23 +9549,23 @@ public Builder clear() {
 
       public com.google.protobuf.Descriptors.Descriptor
           getDescriptorForType() {
-        return Traj.internal_static_GNSS_Sample_descriptor;
+        return com.openpositioning.PositionMe.Traj.internal_static_GNSS_Sample_descriptor;
       }
 
-      public GNSS_Sample getDefaultInstanceForType() {
-        return GNSS_Sample.getDefaultInstance();
+      public com.openpositioning.PositionMe.Traj.GNSS_Sample getDefaultInstanceForType() {
+        return com.openpositioning.PositionMe.Traj.GNSS_Sample.getDefaultInstance();
       }
 
-      public GNSS_Sample build() {
-        GNSS_Sample result = buildPartial();
+      public com.openpositioning.PositionMe.Traj.GNSS_Sample build() {
+        com.openpositioning.PositionMe.Traj.GNSS_Sample result = buildPartial();
         if (!result.isInitialized()) {
           throw newUninitializedMessageException(result);
         }
         return result;
       }
 
-      public GNSS_Sample buildPartial() {
-        GNSS_Sample result = new GNSS_Sample(this);
+      public com.openpositioning.PositionMe.Traj.GNSS_Sample buildPartial() {
+        com.openpositioning.PositionMe.Traj.GNSS_Sample result = new com.openpositioning.PositionMe.Traj.GNSS_Sample(this);
         result.relativeTimestamp_ = relativeTimestamp_;
         result.latitude_ = latitude_;
         result.longitude_ = longitude_;
@@ -9040,16 +9604,16 @@ public Builder addRepeatedField(
         return (Builder) super.addRepeatedField(field, value);
       }
       public Builder mergeFrom(com.google.protobuf.Message other) {
-        if (other instanceof GNSS_Sample) {
-          return mergeFrom((GNSS_Sample)other);
+        if (other instanceof com.openpositioning.PositionMe.Traj.GNSS_Sample) {
+          return mergeFrom((com.openpositioning.PositionMe.Traj.GNSS_Sample)other);
         } else {
           super.mergeFrom(other);
           return this;
         }
       }
 
-      public Builder mergeFrom(GNSS_Sample other) {
-        if (other == GNSS_Sample.getDefaultInstance()) return this;
+      public Builder mergeFrom(com.openpositioning.PositionMe.Traj.GNSS_Sample other) {
+        if (other == com.openpositioning.PositionMe.Traj.GNSS_Sample.getDefaultInstance()) return this;
         if (other.getRelativeTimestamp() != 0L) {
           setRelativeTimestamp(other.getRelativeTimestamp());
         }
@@ -9084,11 +9648,11 @@ public Builder mergeFrom(
           com.google.protobuf.CodedInputStream input,
           com.google.protobuf.ExtensionRegistryLite extensionRegistry)
           throws java.io.IOException {
-        GNSS_Sample parsedMessage = null;
+        com.openpositioning.PositionMe.Traj.GNSS_Sample parsedMessage = null;
         try {
           parsedMessage = PARSER.parsePartialFrom(input, extensionRegistry);
         } catch (com.google.protobuf.InvalidProtocolBufferException e) {
-          parsedMessage = (GNSS_Sample) e.getUnfinishedMessage();
+          parsedMessage = (com.openpositioning.PositionMe.Traj.GNSS_Sample) e.getUnfinishedMessage();
           throw e.unwrapIOException();
         } finally {
           if (parsedMessage != null) {
@@ -9317,7 +9881,7 @@ public Builder clearSpeed() {
         return this;
       }
 
-      private Object provider_ = "";
+      private java.lang.Object provider_ = "";
       /**
        * <pre>
        * e.g 'gps' or 'network'
@@ -9325,16 +9889,16 @@ public Builder clearSpeed() {
        *
        * <code>optional string provider = 7;</code>
        */
-      public String getProvider() {
-        Object ref = provider_;
-        if (!(ref instanceof String)) {
+      public java.lang.String getProvider() {
+        java.lang.Object ref = provider_;
+        if (!(ref instanceof java.lang.String)) {
           com.google.protobuf.ByteString bs =
               (com.google.protobuf.ByteString) ref;
-          String s = bs.toStringUtf8();
+          java.lang.String s = bs.toStringUtf8();
           provider_ = s;
           return s;
         } else {
-          return (String) ref;
+          return (java.lang.String) ref;
         }
       }
       /**
@@ -9346,11 +9910,11 @@ public String getProvider() {
        */
       public com.google.protobuf.ByteString
           getProviderBytes() {
-        Object ref = provider_;
+        java.lang.Object ref = provider_;
         if (ref instanceof String) {
           com.google.protobuf.ByteString b = 
               com.google.protobuf.ByteString.copyFromUtf8(
-                  (String) ref);
+                  (java.lang.String) ref);
           provider_ = b;
           return b;
         } else {
@@ -9365,7 +9929,7 @@ public String getProvider() {
        * <code>optional string provider = 7;</code>
        */
       public Builder setProvider(
-          String value) {
+          java.lang.String value) {
         if (value == null) {
     throw new NullPointerException();
   }
@@ -9420,12 +9984,12 @@ public final Builder mergeUnknownFields(
     }
 
     // @@protoc_insertion_point(class_scope:GNSS_Sample)
-    private static final GNSS_Sample DEFAULT_INSTANCE;
+    private static final com.openpositioning.PositionMe.Traj.GNSS_Sample DEFAULT_INSTANCE;
     static {
-      DEFAULT_INSTANCE = new GNSS_Sample();
+      DEFAULT_INSTANCE = new com.openpositioning.PositionMe.Traj.GNSS_Sample();
     }
 
-    public static GNSS_Sample getDefaultInstance() {
+    public static com.openpositioning.PositionMe.Traj.GNSS_Sample getDefaultInstance() {
       return DEFAULT_INSTANCE;
     }
 
@@ -9443,12 +10007,12 @@ public static com.google.protobuf.Parser<GNSS_Sample> parser() {
       return PARSER;
     }
 
-    @Override
+    @java.lang.Override
     public com.google.protobuf.Parser<GNSS_Sample> getParserForType() {
       return PARSER;
     }
 
-    public GNSS_Sample getDefaultInstanceForType() {
+    public com.openpositioning.PositionMe.Traj.GNSS_Sample getDefaultInstanceForType() {
       return DEFAULT_INSTANCE;
     }
 
@@ -9466,12 +10030,12 @@ public interface WiFi_SampleOrBuilder extends
     /**
      * <code>repeated .Mac_Scan mac_scans = 2;</code>
      */
-    java.util.List<Mac_Scan>
+    java.util.List<com.openpositioning.PositionMe.Traj.Mac_Scan> 
         getMacScansList();
     /**
      * <code>repeated .Mac_Scan mac_scans = 2;</code>
      */
-    Mac_Scan getMacScans(int index);
+    com.openpositioning.PositionMe.Traj.Mac_Scan getMacScans(int index);
     /**
      * <code>repeated .Mac_Scan mac_scans = 2;</code>
      */
@@ -9479,13 +10043,26 @@ public interface WiFi_SampleOrBuilder extends
     /**
      * <code>repeated .Mac_Scan mac_scans = 2;</code>
      */
-    java.util.List<? extends Mac_ScanOrBuilder>
+    java.util.List<? extends com.openpositioning.PositionMe.Traj.Mac_ScanOrBuilder> 
         getMacScansOrBuilderList();
     /**
      * <code>repeated .Mac_Scan mac_scans = 2;</code>
      */
-    Mac_ScanOrBuilder getMacScansOrBuilder(
+    com.openpositioning.PositionMe.Traj.Mac_ScanOrBuilder getMacScansOrBuilder(
         int index);
+
+    /**
+     * <code>optional .Position position = 3;</code>
+     */
+    boolean hasPosition();
+    /**
+     * <code>optional .Position position = 3;</code>
+     */
+    com.openpositioning.PositionMe.Traj.Position getPosition();
+    /**
+     * <code>optional .Position position = 3;</code>
+     */
+    com.openpositioning.PositionMe.Traj.PositionOrBuilder getPositionOrBuilder();
   }
   /**
    * Protobuf type {@code WiFi_Sample}
@@ -9503,7 +10080,7 @@ private WiFi_Sample() {
       macScans_ = java.util.Collections.emptyList();
     }
 
-    @Override
+    @java.lang.Override
     public final com.google.protobuf.UnknownFieldSet
     getUnknownFields() {
       return com.google.protobuf.UnknownFieldSet.getDefaultInstance();
@@ -9535,11 +10112,24 @@ private WiFi_Sample(
             }
             case 18: {
               if (!((mutable_bitField0_ & 0x00000002) == 0x00000002)) {
-                macScans_ = new java.util.ArrayList<Mac_Scan>();
+                macScans_ = new java.util.ArrayList<com.openpositioning.PositionMe.Traj.Mac_Scan>();
                 mutable_bitField0_ |= 0x00000002;
               }
               macScans_.add(
-                  input.readMessage(Mac_Scan.parser(), extensionRegistry));
+                  input.readMessage(com.openpositioning.PositionMe.Traj.Mac_Scan.parser(), extensionRegistry));
+              break;
+            }
+            case 26: {
+              com.openpositioning.PositionMe.Traj.Position.Builder subBuilder = null;
+              if (position_ != null) {
+                subBuilder = position_.toBuilder();
+              }
+              position_ = input.readMessage(com.openpositioning.PositionMe.Traj.Position.parser(), extensionRegistry);
+              if (subBuilder != null) {
+                subBuilder.mergeFrom(position_);
+                position_ = subBuilder.buildPartial();
+              }
+
               break;
             }
           }
@@ -9558,14 +10148,14 @@ private WiFi_Sample(
     }
     public static final com.google.protobuf.Descriptors.Descriptor
         getDescriptor() {
-      return Traj.internal_static_WiFi_Sample_descriptor;
+      return com.openpositioning.PositionMe.Traj.internal_static_WiFi_Sample_descriptor;
     }
 
     protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
         internalGetFieldAccessorTable() {
-      return Traj.internal_static_WiFi_Sample_fieldAccessorTable
+      return com.openpositioning.PositionMe.Traj.internal_static_WiFi_Sample_fieldAccessorTable
           .ensureFieldAccessorsInitialized(
-              WiFi_Sample.class, Builder.class);
+              com.openpositioning.PositionMe.Traj.WiFi_Sample.class, com.openpositioning.PositionMe.Traj.WiFi_Sample.Builder.class);
     }
 
     private int bitField0_;
@@ -9579,17 +10169,17 @@ public long getRelativeTimestamp() {
     }
 
     public static final int MAC_SCANS_FIELD_NUMBER = 2;
-    private java.util.List<Mac_Scan> macScans_;
+    private java.util.List<com.openpositioning.PositionMe.Traj.Mac_Scan> macScans_;
     /**
      * <code>repeated .Mac_Scan mac_scans = 2;</code>
      */
-    public java.util.List<Mac_Scan> getMacScansList() {
+    public java.util.List<com.openpositioning.PositionMe.Traj.Mac_Scan> getMacScansList() {
       return macScans_;
     }
     /**
      * <code>repeated .Mac_Scan mac_scans = 2;</code>
      */
-    public java.util.List<? extends Mac_ScanOrBuilder>
+    public java.util.List<? extends com.openpositioning.PositionMe.Traj.Mac_ScanOrBuilder> 
         getMacScansOrBuilderList() {
       return macScans_;
     }
@@ -9602,21 +10192,42 @@ public int getMacScansCount() {
     /**
      * <code>repeated .Mac_Scan mac_scans = 2;</code>
      */
-    public Mac_Scan getMacScans(int index) {
+    public com.openpositioning.PositionMe.Traj.Mac_Scan getMacScans(int index) {
       return macScans_.get(index);
     }
     /**
      * <code>repeated .Mac_Scan mac_scans = 2;</code>
      */
-    public Mac_ScanOrBuilder getMacScansOrBuilder(
+    public com.openpositioning.PositionMe.Traj.Mac_ScanOrBuilder getMacScansOrBuilder(
         int index) {
       return macScans_.get(index);
     }
 
-    private byte memoizedIsInitialized = -1;
-    public final boolean isInitialized() {
-      byte isInitialized = memoizedIsInitialized;
-      if (isInitialized == 1) return true;
+    public static final int POSITION_FIELD_NUMBER = 3;
+    private com.openpositioning.PositionMe.Traj.Position position_;
+    /**
+     * <code>optional .Position position = 3;</code>
+     */
+    public boolean hasPosition() {
+      return position_ != null;
+    }
+    /**
+     * <code>optional .Position position = 3;</code>
+     */
+    public com.openpositioning.PositionMe.Traj.Position getPosition() {
+      return position_ == null ? com.openpositioning.PositionMe.Traj.Position.getDefaultInstance() : position_;
+    }
+    /**
+     * <code>optional .Position position = 3;</code>
+     */
+    public com.openpositioning.PositionMe.Traj.PositionOrBuilder getPositionOrBuilder() {
+      return getPosition();
+    }
+
+    private byte memoizedIsInitialized = -1;
+    public final boolean isInitialized() {
+      byte isInitialized = memoizedIsInitialized;
+      if (isInitialized == 1) return true;
       if (isInitialized == 0) return false;
 
       memoizedIsInitialized = 1;
@@ -9631,6 +10242,9 @@ public void writeTo(com.google.protobuf.CodedOutputStream output)
       for (int i = 0; i < macScans_.size(); i++) {
         output.writeMessage(2, macScans_.get(i));
       }
+      if (position_ != null) {
+        output.writeMessage(3, getPosition());
+      }
     }
 
     public int getSerializedSize() {
@@ -9646,30 +10260,39 @@ public int getSerializedSize() {
         size += com.google.protobuf.CodedOutputStream
           .computeMessageSize(2, macScans_.get(i));
       }
+      if (position_ != null) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeMessageSize(3, getPosition());
+      }
       memoizedSize = size;
       return size;
     }
 
     private static final long serialVersionUID = 0L;
-    @Override
-    public boolean equals(final Object obj) {
+    @java.lang.Override
+    public boolean equals(final java.lang.Object obj) {
       if (obj == this) {
        return true;
       }
-      if (!(obj instanceof WiFi_Sample)) {
+      if (!(obj instanceof com.openpositioning.PositionMe.Traj.WiFi_Sample)) {
         return super.equals(obj);
       }
-      WiFi_Sample other = (WiFi_Sample) obj;
+      com.openpositioning.PositionMe.Traj.WiFi_Sample other = (com.openpositioning.PositionMe.Traj.WiFi_Sample) obj;
 
       boolean result = true;
       result = result && (getRelativeTimestamp()
           == other.getRelativeTimestamp());
       result = result && getMacScansList()
           .equals(other.getMacScansList());
+      result = result && (hasPosition() == other.hasPosition());
+      if (hasPosition()) {
+        result = result && getPosition()
+            .equals(other.getPosition());
+      }
       return result;
     }
 
-    @Override
+    @java.lang.Override
     public int hashCode() {
       if (memoizedHashCode != 0) {
         return memoizedHashCode;
@@ -9683,63 +10306,67 @@ public int hashCode() {
         hash = (37 * hash) + MAC_SCANS_FIELD_NUMBER;
         hash = (53 * hash) + getMacScansList().hashCode();
       }
+      if (hasPosition()) {
+        hash = (37 * hash) + POSITION_FIELD_NUMBER;
+        hash = (53 * hash) + getPosition().hashCode();
+      }
       hash = (29 * hash) + unknownFields.hashCode();
       memoizedHashCode = hash;
       return hash;
     }
 
-    public static WiFi_Sample parseFrom(
+    public static com.openpositioning.PositionMe.Traj.WiFi_Sample parseFrom(
         com.google.protobuf.ByteString data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static WiFi_Sample parseFrom(
+    public static com.openpositioning.PositionMe.Traj.WiFi_Sample parseFrom(
         com.google.protobuf.ByteString data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static WiFi_Sample parseFrom(byte[] data)
+    public static com.openpositioning.PositionMe.Traj.WiFi_Sample parseFrom(byte[] data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static WiFi_Sample parseFrom(
+    public static com.openpositioning.PositionMe.Traj.WiFi_Sample parseFrom(
         byte[] data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static WiFi_Sample parseFrom(java.io.InputStream input)
+    public static com.openpositioning.PositionMe.Traj.WiFi_Sample parseFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input);
     }
-    public static WiFi_Sample parseFrom(
+    public static com.openpositioning.PositionMe.Traj.WiFi_Sample parseFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input, extensionRegistry);
     }
-    public static WiFi_Sample parseDelimitedFrom(java.io.InputStream input)
+    public static com.openpositioning.PositionMe.Traj.WiFi_Sample parseDelimitedFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseDelimitedWithIOException(PARSER, input);
     }
-    public static WiFi_Sample parseDelimitedFrom(
+    public static com.openpositioning.PositionMe.Traj.WiFi_Sample parseDelimitedFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
     }
-    public static WiFi_Sample parseFrom(
+    public static com.openpositioning.PositionMe.Traj.WiFi_Sample parseFrom(
         com.google.protobuf.CodedInputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input);
     }
-    public static WiFi_Sample parseFrom(
+    public static com.openpositioning.PositionMe.Traj.WiFi_Sample parseFrom(
         com.google.protobuf.CodedInputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
@@ -9751,7 +10378,7 @@ public static WiFi_Sample parseFrom(
     public static Builder newBuilder() {
       return DEFAULT_INSTANCE.toBuilder();
     }
-    public static Builder newBuilder(WiFi_Sample prototype) {
+    public static Builder newBuilder(com.openpositioning.PositionMe.Traj.WiFi_Sample prototype) {
       return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
     }
     public Builder toBuilder() {
@@ -9759,7 +10386,7 @@ public Builder toBuilder() {
           ? new Builder() : new Builder().mergeFrom(this);
     }
 
-    @Override
+    @java.lang.Override
     protected Builder newBuilderForType(
         com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
       Builder builder = new Builder(parent);
@@ -9771,20 +10398,20 @@ protected Builder newBuilderForType(
     public static final class Builder extends
         com.google.protobuf.GeneratedMessageV3.Builder<Builder> implements
         // @@protoc_insertion_point(builder_implements:WiFi_Sample)
-        WiFi_SampleOrBuilder {
+        com.openpositioning.PositionMe.Traj.WiFi_SampleOrBuilder {
       public static final com.google.protobuf.Descriptors.Descriptor
           getDescriptor() {
-        return Traj.internal_static_WiFi_Sample_descriptor;
+        return com.openpositioning.PositionMe.Traj.internal_static_WiFi_Sample_descriptor;
       }
 
       protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
           internalGetFieldAccessorTable() {
-        return Traj.internal_static_WiFi_Sample_fieldAccessorTable
+        return com.openpositioning.PositionMe.Traj.internal_static_WiFi_Sample_fieldAccessorTable
             .ensureFieldAccessorsInitialized(
-                WiFi_Sample.class, Builder.class);
+                com.openpositioning.PositionMe.Traj.WiFi_Sample.class, com.openpositioning.PositionMe.Traj.WiFi_Sample.Builder.class);
       }
 
-      // Construct using Traj.WiFi_Sample.newBuilder()
+      // Construct using com.openpositioning.PositionMe.Traj.WiFi_Sample.newBuilder()
       private Builder() {
         maybeForceBuilderInitialization();
       }
@@ -9810,28 +10437,34 @@ public Builder clear() {
         } else {
           macScansBuilder_.clear();
         }
+        if (positionBuilder_ == null) {
+          position_ = null;
+        } else {
+          position_ = null;
+          positionBuilder_ = null;
+        }
         return this;
       }
 
       public com.google.protobuf.Descriptors.Descriptor
           getDescriptorForType() {
-        return Traj.internal_static_WiFi_Sample_descriptor;
+        return com.openpositioning.PositionMe.Traj.internal_static_WiFi_Sample_descriptor;
       }
 
-      public WiFi_Sample getDefaultInstanceForType() {
-        return WiFi_Sample.getDefaultInstance();
+      public com.openpositioning.PositionMe.Traj.WiFi_Sample getDefaultInstanceForType() {
+        return com.openpositioning.PositionMe.Traj.WiFi_Sample.getDefaultInstance();
       }
 
-      public WiFi_Sample build() {
-        WiFi_Sample result = buildPartial();
+      public com.openpositioning.PositionMe.Traj.WiFi_Sample build() {
+        com.openpositioning.PositionMe.Traj.WiFi_Sample result = buildPartial();
         if (!result.isInitialized()) {
           throw newUninitializedMessageException(result);
         }
         return result;
       }
 
-      public WiFi_Sample buildPartial() {
-        WiFi_Sample result = new WiFi_Sample(this);
+      public com.openpositioning.PositionMe.Traj.WiFi_Sample buildPartial() {
+        com.openpositioning.PositionMe.Traj.WiFi_Sample result = new com.openpositioning.PositionMe.Traj.WiFi_Sample(this);
         int from_bitField0_ = bitField0_;
         int to_bitField0_ = 0;
         result.relativeTimestamp_ = relativeTimestamp_;
@@ -9844,6 +10477,11 @@ public WiFi_Sample buildPartial() {
         } else {
           result.macScans_ = macScansBuilder_.build();
         }
+        if (positionBuilder_ == null) {
+          result.position_ = position_;
+        } else {
+          result.position_ = positionBuilder_.build();
+        }
         result.bitField0_ = to_bitField0_;
         onBuilt();
         return result;
@@ -9876,16 +10514,16 @@ public Builder addRepeatedField(
         return (Builder) super.addRepeatedField(field, value);
       }
       public Builder mergeFrom(com.google.protobuf.Message other) {
-        if (other instanceof WiFi_Sample) {
-          return mergeFrom((WiFi_Sample)other);
+        if (other instanceof com.openpositioning.PositionMe.Traj.WiFi_Sample) {
+          return mergeFrom((com.openpositioning.PositionMe.Traj.WiFi_Sample)other);
         } else {
           super.mergeFrom(other);
           return this;
         }
       }
 
-      public Builder mergeFrom(WiFi_Sample other) {
-        if (other == WiFi_Sample.getDefaultInstance()) return this;
+      public Builder mergeFrom(com.openpositioning.PositionMe.Traj.WiFi_Sample other) {
+        if (other == com.openpositioning.PositionMe.Traj.WiFi_Sample.getDefaultInstance()) return this;
         if (other.getRelativeTimestamp() != 0L) {
           setRelativeTimestamp(other.getRelativeTimestamp());
         }
@@ -9915,6 +10553,9 @@ public Builder mergeFrom(WiFi_Sample other) {
             }
           }
         }
+        if (other.hasPosition()) {
+          mergePosition(other.getPosition());
+        }
         onChanged();
         return this;
       }
@@ -9927,11 +10568,11 @@ public Builder mergeFrom(
           com.google.protobuf.CodedInputStream input,
           com.google.protobuf.ExtensionRegistryLite extensionRegistry)
           throws java.io.IOException {
-        WiFi_Sample parsedMessage = null;
+        com.openpositioning.PositionMe.Traj.WiFi_Sample parsedMessage = null;
         try {
           parsedMessage = PARSER.parsePartialFrom(input, extensionRegistry);
         } catch (com.google.protobuf.InvalidProtocolBufferException e) {
-          parsedMessage = (WiFi_Sample) e.getUnfinishedMessage();
+          parsedMessage = (com.openpositioning.PositionMe.Traj.WiFi_Sample) e.getUnfinishedMessage();
           throw e.unwrapIOException();
         } finally {
           if (parsedMessage != null) {
@@ -9968,22 +10609,22 @@ public Builder clearRelativeTimestamp() {
         return this;
       }
 
-      private java.util.List<Mac_Scan> macScans_ =
+      private java.util.List<com.openpositioning.PositionMe.Traj.Mac_Scan> macScans_ =
         java.util.Collections.emptyList();
       private void ensureMacScansIsMutable() {
         if (!((bitField0_ & 0x00000002) == 0x00000002)) {
-          macScans_ = new java.util.ArrayList<Mac_Scan>(macScans_);
+          macScans_ = new java.util.ArrayList<com.openpositioning.PositionMe.Traj.Mac_Scan>(macScans_);
           bitField0_ |= 0x00000002;
          }
       }
 
       private com.google.protobuf.RepeatedFieldBuilderV3<
-          Mac_Scan, Mac_Scan.Builder, Mac_ScanOrBuilder> macScansBuilder_;
+          com.openpositioning.PositionMe.Traj.Mac_Scan, com.openpositioning.PositionMe.Traj.Mac_Scan.Builder, com.openpositioning.PositionMe.Traj.Mac_ScanOrBuilder> macScansBuilder_;
 
       /**
        * <code>repeated .Mac_Scan mac_scans = 2;</code>
        */
-      public java.util.List<Mac_Scan> getMacScansList() {
+      public java.util.List<com.openpositioning.PositionMe.Traj.Mac_Scan> getMacScansList() {
         if (macScansBuilder_ == null) {
           return java.util.Collections.unmodifiableList(macScans_);
         } else {
@@ -10003,7 +10644,7 @@ public int getMacScansCount() {
       /**
        * <code>repeated .Mac_Scan mac_scans = 2;</code>
        */
-      public Mac_Scan getMacScans(int index) {
+      public com.openpositioning.PositionMe.Traj.Mac_Scan getMacScans(int index) {
         if (macScansBuilder_ == null) {
           return macScans_.get(index);
         } else {
@@ -10014,7 +10655,7 @@ public Mac_Scan getMacScans(int index) {
        * <code>repeated .Mac_Scan mac_scans = 2;</code>
        */
       public Builder setMacScans(
-          int index, Mac_Scan value) {
+          int index, com.openpositioning.PositionMe.Traj.Mac_Scan value) {
         if (macScansBuilder_ == null) {
           if (value == null) {
             throw new NullPointerException();
@@ -10031,7 +10672,7 @@ public Builder setMacScans(
        * <code>repeated .Mac_Scan mac_scans = 2;</code>
        */
       public Builder setMacScans(
-          int index, Mac_Scan.Builder builderForValue) {
+          int index, com.openpositioning.PositionMe.Traj.Mac_Scan.Builder builderForValue) {
         if (macScansBuilder_ == null) {
           ensureMacScansIsMutable();
           macScans_.set(index, builderForValue.build());
@@ -10044,7 +10685,7 @@ public Builder setMacScans(
       /**
        * <code>repeated .Mac_Scan mac_scans = 2;</code>
        */
-      public Builder addMacScans(Mac_Scan value) {
+      public Builder addMacScans(com.openpositioning.PositionMe.Traj.Mac_Scan value) {
         if (macScansBuilder_ == null) {
           if (value == null) {
             throw new NullPointerException();
@@ -10061,7 +10702,7 @@ public Builder addMacScans(Mac_Scan value) {
        * <code>repeated .Mac_Scan mac_scans = 2;</code>
        */
       public Builder addMacScans(
-          int index, Mac_Scan value) {
+          int index, com.openpositioning.PositionMe.Traj.Mac_Scan value) {
         if (macScansBuilder_ == null) {
           if (value == null) {
             throw new NullPointerException();
@@ -10078,7 +10719,7 @@ public Builder addMacScans(
        * <code>repeated .Mac_Scan mac_scans = 2;</code>
        */
       public Builder addMacScans(
-          Mac_Scan.Builder builderForValue) {
+          com.openpositioning.PositionMe.Traj.Mac_Scan.Builder builderForValue) {
         if (macScansBuilder_ == null) {
           ensureMacScansIsMutable();
           macScans_.add(builderForValue.build());
@@ -10092,7 +10733,7 @@ public Builder addMacScans(
        * <code>repeated .Mac_Scan mac_scans = 2;</code>
        */
       public Builder addMacScans(
-          int index, Mac_Scan.Builder builderForValue) {
+          int index, com.openpositioning.PositionMe.Traj.Mac_Scan.Builder builderForValue) {
         if (macScansBuilder_ == null) {
           ensureMacScansIsMutable();
           macScans_.add(index, builderForValue.build());
@@ -10106,7 +10747,7 @@ public Builder addMacScans(
        * <code>repeated .Mac_Scan mac_scans = 2;</code>
        */
       public Builder addAllMacScans(
-          Iterable<? extends Mac_Scan> values) {
+          java.lang.Iterable<? extends com.openpositioning.PositionMe.Traj.Mac_Scan> values) {
         if (macScansBuilder_ == null) {
           ensureMacScansIsMutable();
           com.google.protobuf.AbstractMessageLite.Builder.addAll(
@@ -10146,14 +10787,14 @@ public Builder removeMacScans(int index) {
       /**
        * <code>repeated .Mac_Scan mac_scans = 2;</code>
        */
-      public Mac_Scan.Builder getMacScansBuilder(
+      public com.openpositioning.PositionMe.Traj.Mac_Scan.Builder getMacScansBuilder(
           int index) {
         return getMacScansFieldBuilder().getBuilder(index);
       }
       /**
        * <code>repeated .Mac_Scan mac_scans = 2;</code>
        */
-      public Mac_ScanOrBuilder getMacScansOrBuilder(
+      public com.openpositioning.PositionMe.Traj.Mac_ScanOrBuilder getMacScansOrBuilder(
           int index) {
         if (macScansBuilder_ == null) {
           return macScans_.get(index);  } else {
@@ -10163,7 +10804,7 @@ public Mac_ScanOrBuilder getMacScansOrBuilder(
       /**
        * <code>repeated .Mac_Scan mac_scans = 2;</code>
        */
-      public java.util.List<? extends Mac_ScanOrBuilder>
+      public java.util.List<? extends com.openpositioning.PositionMe.Traj.Mac_ScanOrBuilder> 
            getMacScansOrBuilderList() {
         if (macScansBuilder_ != null) {
           return macScansBuilder_.getMessageOrBuilderList();
@@ -10174,31 +10815,31 @@ public Mac_ScanOrBuilder getMacScansOrBuilder(
       /**
        * <code>repeated .Mac_Scan mac_scans = 2;</code>
        */
-      public Mac_Scan.Builder addMacScansBuilder() {
+      public com.openpositioning.PositionMe.Traj.Mac_Scan.Builder addMacScansBuilder() {
         return getMacScansFieldBuilder().addBuilder(
-            Mac_Scan.getDefaultInstance());
+            com.openpositioning.PositionMe.Traj.Mac_Scan.getDefaultInstance());
       }
       /**
        * <code>repeated .Mac_Scan mac_scans = 2;</code>
        */
-      public Mac_Scan.Builder addMacScansBuilder(
+      public com.openpositioning.PositionMe.Traj.Mac_Scan.Builder addMacScansBuilder(
           int index) {
         return getMacScansFieldBuilder().addBuilder(
-            index, Mac_Scan.getDefaultInstance());
+            index, com.openpositioning.PositionMe.Traj.Mac_Scan.getDefaultInstance());
       }
       /**
        * <code>repeated .Mac_Scan mac_scans = 2;</code>
        */
-      public java.util.List<Mac_Scan.Builder>
+      public java.util.List<com.openpositioning.PositionMe.Traj.Mac_Scan.Builder> 
            getMacScansBuilderList() {
         return getMacScansFieldBuilder().getBuilderList();
       }
       private com.google.protobuf.RepeatedFieldBuilderV3<
-          Mac_Scan, Mac_Scan.Builder, Mac_ScanOrBuilder>
+          com.openpositioning.PositionMe.Traj.Mac_Scan, com.openpositioning.PositionMe.Traj.Mac_Scan.Builder, com.openpositioning.PositionMe.Traj.Mac_ScanOrBuilder> 
           getMacScansFieldBuilder() {
         if (macScansBuilder_ == null) {
           macScansBuilder_ = new com.google.protobuf.RepeatedFieldBuilderV3<
-              Mac_Scan, Mac_Scan.Builder, Mac_ScanOrBuilder>(
+              com.openpositioning.PositionMe.Traj.Mac_Scan, com.openpositioning.PositionMe.Traj.Mac_Scan.Builder, com.openpositioning.PositionMe.Traj.Mac_ScanOrBuilder>(
                   macScans_,
                   ((bitField0_ & 0x00000002) == 0x00000002),
                   getParentForChildren(),
@@ -10207,6 +10848,123 @@ public Mac_Scan.Builder addMacScansBuilder(
         }
         return macScansBuilder_;
       }
+
+      private com.openpositioning.PositionMe.Traj.Position position_ = null;
+      private com.google.protobuf.SingleFieldBuilderV3<
+          com.openpositioning.PositionMe.Traj.Position, com.openpositioning.PositionMe.Traj.Position.Builder, com.openpositioning.PositionMe.Traj.PositionOrBuilder> positionBuilder_;
+      /**
+       * <code>optional .Position position = 3;</code>
+       */
+      public boolean hasPosition() {
+        return positionBuilder_ != null || position_ != null;
+      }
+      /**
+       * <code>optional .Position position = 3;</code>
+       */
+      public com.openpositioning.PositionMe.Traj.Position getPosition() {
+        if (positionBuilder_ == null) {
+          return position_ == null ? com.openpositioning.PositionMe.Traj.Position.getDefaultInstance() : position_;
+        } else {
+          return positionBuilder_.getMessage();
+        }
+      }
+      /**
+       * <code>optional .Position position = 3;</code>
+       */
+      public Builder setPosition(com.openpositioning.PositionMe.Traj.Position value) {
+        if (positionBuilder_ == null) {
+          if (value == null) {
+            throw new NullPointerException();
+          }
+          position_ = value;
+          onChanged();
+        } else {
+          positionBuilder_.setMessage(value);
+        }
+
+        return this;
+      }
+      /**
+       * <code>optional .Position position = 3;</code>
+       */
+      public Builder setPosition(
+          com.openpositioning.PositionMe.Traj.Position.Builder builderForValue) {
+        if (positionBuilder_ == null) {
+          position_ = builderForValue.build();
+          onChanged();
+        } else {
+          positionBuilder_.setMessage(builderForValue.build());
+        }
+
+        return this;
+      }
+      /**
+       * <code>optional .Position position = 3;</code>
+       */
+      public Builder mergePosition(com.openpositioning.PositionMe.Traj.Position value) {
+        if (positionBuilder_ == null) {
+          if (position_ != null) {
+            position_ =
+              com.openpositioning.PositionMe.Traj.Position.newBuilder(position_).mergeFrom(value).buildPartial();
+          } else {
+            position_ = value;
+          }
+          onChanged();
+        } else {
+          positionBuilder_.mergeFrom(value);
+        }
+
+        return this;
+      }
+      /**
+       * <code>optional .Position position = 3;</code>
+       */
+      public Builder clearPosition() {
+        if (positionBuilder_ == null) {
+          position_ = null;
+          onChanged();
+        } else {
+          position_ = null;
+          positionBuilder_ = null;
+        }
+
+        return this;
+      }
+      /**
+       * <code>optional .Position position = 3;</code>
+       */
+      public com.openpositioning.PositionMe.Traj.Position.Builder getPositionBuilder() {
+        
+        onChanged();
+        return getPositionFieldBuilder().getBuilder();
+      }
+      /**
+       * <code>optional .Position position = 3;</code>
+       */
+      public com.openpositioning.PositionMe.Traj.PositionOrBuilder getPositionOrBuilder() {
+        if (positionBuilder_ != null) {
+          return positionBuilder_.getMessageOrBuilder();
+        } else {
+          return position_ == null ?
+              com.openpositioning.PositionMe.Traj.Position.getDefaultInstance() : position_;
+        }
+      }
+      /**
+       * <code>optional .Position position = 3;</code>
+       */
+      private com.google.protobuf.SingleFieldBuilderV3<
+          com.openpositioning.PositionMe.Traj.Position, com.openpositioning.PositionMe.Traj.Position.Builder, com.openpositioning.PositionMe.Traj.PositionOrBuilder> 
+          getPositionFieldBuilder() {
+        if (positionBuilder_ == null) {
+          positionBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
+              com.openpositioning.PositionMe.Traj.Position, com.openpositioning.PositionMe.Traj.Position.Builder, com.openpositioning.PositionMe.Traj.PositionOrBuilder>(
+                  getPosition(),
+                  getParentForChildren(),
+                  isClean());
+          position_ = null;
+        }
+        return positionBuilder_;
+      }
       public final Builder setUnknownFields(
           final com.google.protobuf.UnknownFieldSet unknownFields) {
         return this;
@@ -10222,12 +10980,12 @@ public final Builder mergeUnknownFields(
     }
 
     // @@protoc_insertion_point(class_scope:WiFi_Sample)
-    private static final WiFi_Sample DEFAULT_INSTANCE;
+    private static final com.openpositioning.PositionMe.Traj.WiFi_Sample DEFAULT_INSTANCE;
     static {
-      DEFAULT_INSTANCE = new WiFi_Sample();
+      DEFAULT_INSTANCE = new com.openpositioning.PositionMe.Traj.WiFi_Sample();
     }
 
-    public static WiFi_Sample getDefaultInstance() {
+    public static com.openpositioning.PositionMe.Traj.WiFi_Sample getDefaultInstance() {
       return DEFAULT_INSTANCE;
     }
 
@@ -10245,19 +11003,19 @@ public static com.google.protobuf.Parser<WiFi_Sample> parser() {
       return PARSER;
     }
 
-    @Override
+    @java.lang.Override
     public com.google.protobuf.Parser<WiFi_Sample> getParserForType() {
       return PARSER;
     }
 
-    public WiFi_Sample getDefaultInstanceForType() {
+    public com.openpositioning.PositionMe.Traj.WiFi_Sample getDefaultInstanceForType() {
       return DEFAULT_INSTANCE;
     }
 
   }
 
-  public interface Mac_ScanOrBuilder extends
-      // @@protoc_insertion_point(interface_extends:Mac_Scan)
+  public interface PositionOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:Position)
       com.google.protobuf.MessageOrBuilder {
 
     /**
@@ -10266,48 +11024,44 @@ public interface Mac_ScanOrBuilder extends
     long getRelativeTimestamp();
 
     /**
-     * <pre>
-     * Integer encoding of the hex mac address
-     * e.g. 207394925843984
-     * </pre>
-     *
-     * <code>optional int64 mac = 2;</code>
+     * <code>optional float latitude = 2;</code>
      */
-    long getMac();
+    float getLatitude();
 
     /**
-     * <pre>
-     * rssi integer in dBm.
-     * typically between -120 and -10
-     * </pre>
-     *
-     * <code>optional int32 rssi = 3;</code>
+     * <code>optional float longitude = 3;</code>
      */
-    int getRssi();
+    float getLongitude();
+
+    /**
+     * <code>optional int32 floor = 4;</code>
+     */
+    int getFloor();
   }
   /**
-   * Protobuf type {@code Mac_Scan}
+   * Protobuf type {@code Position}
    */
-  public  static final class Mac_Scan extends
+  public  static final class Position extends
       com.google.protobuf.GeneratedMessageV3 implements
-      // @@protoc_insertion_point(message_implements:Mac_Scan)
-      Mac_ScanOrBuilder {
-    // Use Mac_Scan.newBuilder() to construct.
-    private Mac_Scan(com.google.protobuf.GeneratedMessageV3.Builder<?> builder) {
+      // @@protoc_insertion_point(message_implements:Position)
+      PositionOrBuilder {
+    // Use Position.newBuilder() to construct.
+    private Position(com.google.protobuf.GeneratedMessageV3.Builder<?> builder) {
       super(builder);
     }
-    private Mac_Scan() {
+    private Position() {
       relativeTimestamp_ = 0L;
-      mac_ = 0L;
-      rssi_ = 0;
+      latitude_ = 0F;
+      longitude_ = 0F;
+      floor_ = 0;
     }
 
-    @Override
+    @java.lang.Override
     public final com.google.protobuf.UnknownFieldSet
     getUnknownFields() {
       return com.google.protobuf.UnknownFieldSet.getDefaultInstance();
     }
-    private Mac_Scan(
+    private Position(
         com.google.protobuf.CodedInputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
@@ -10332,14 +11086,19 @@ private Mac_Scan(
               relativeTimestamp_ = input.readInt64();
               break;
             }
-            case 16: {
+            case 21: {
 
-              mac_ = input.readInt64();
+              latitude_ = input.readFloat();
               break;
             }
-            case 24: {
+            case 29: {
 
-              rssi_ = input.readInt32();
+              longitude_ = input.readFloat();
+              break;
+            }
+            case 32: {
+
+              floor_ = input.readInt32();
               break;
             }
           }
@@ -10355,14 +11114,14 @@ private Mac_Scan(
     }
     public static final com.google.protobuf.Descriptors.Descriptor
         getDescriptor() {
-      return Traj.internal_static_Mac_Scan_descriptor;
+      return com.openpositioning.PositionMe.Traj.internal_static_Position_descriptor;
     }
 
     protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
         internalGetFieldAccessorTable() {
-      return Traj.internal_static_Mac_Scan_fieldAccessorTable
+      return com.openpositioning.PositionMe.Traj.internal_static_Position_fieldAccessorTable
           .ensureFieldAccessorsInitialized(
-              Mac_Scan.class, Builder.class);
+              com.openpositioning.PositionMe.Traj.Position.class, com.openpositioning.PositionMe.Traj.Position.Builder.class);
     }
 
     public static final int RELATIVE_TIMESTAMP_FIELD_NUMBER = 1;
@@ -10374,32 +11133,31 @@ public long getRelativeTimestamp() {
       return relativeTimestamp_;
     }
 
-    public static final int MAC_FIELD_NUMBER = 2;
-    private long mac_;
+    public static final int LATITUDE_FIELD_NUMBER = 2;
+    private float latitude_;
     /**
-     * <pre>
-     * Integer encoding of the hex mac address
-     * e.g. 207394925843984
-     * </pre>
-     *
-     * <code>optional int64 mac = 2;</code>
+     * <code>optional float latitude = 2;</code>
      */
-    public long getMac() {
-      return mac_;
+    public float getLatitude() {
+      return latitude_;
     }
 
-    public static final int RSSI_FIELD_NUMBER = 3;
-    private int rssi_;
+    public static final int LONGITUDE_FIELD_NUMBER = 3;
+    private float longitude_;
     /**
-     * <pre>
-     * rssi integer in dBm.
-     * typically between -120 and -10
-     * </pre>
-     *
-     * <code>optional int32 rssi = 3;</code>
+     * <code>optional float longitude = 3;</code>
      */
-    public int getRssi() {
-      return rssi_;
+    public float getLongitude() {
+      return longitude_;
+    }
+
+    public static final int FLOOR_FIELD_NUMBER = 4;
+    private int floor_;
+    /**
+     * <code>optional int32 floor = 4;</code>
+     */
+    public int getFloor() {
+      return floor_;
     }
 
     private byte memoizedIsInitialized = -1;
@@ -10417,11 +11175,14 @@ public void writeTo(com.google.protobuf.CodedOutputStream output)
       if (relativeTimestamp_ != 0L) {
         output.writeInt64(1, relativeTimestamp_);
       }
-      if (mac_ != 0L) {
-        output.writeInt64(2, mac_);
+      if (latitude_ != 0F) {
+        output.writeFloat(2, latitude_);
       }
-      if (rssi_ != 0) {
-        output.writeInt32(3, rssi_);
+      if (longitude_ != 0F) {
+        output.writeFloat(3, longitude_);
+      }
+      if (floor_ != 0) {
+        output.writeInt32(4, floor_);
       }
     }
 
@@ -10434,40 +11195,50 @@ public int getSerializedSize() {
         size += com.google.protobuf.CodedOutputStream
           .computeInt64Size(1, relativeTimestamp_);
       }
-      if (mac_ != 0L) {
+      if (latitude_ != 0F) {
         size += com.google.protobuf.CodedOutputStream
-          .computeInt64Size(2, mac_);
+          .computeFloatSize(2, latitude_);
       }
-      if (rssi_ != 0) {
+      if (longitude_ != 0F) {
         size += com.google.protobuf.CodedOutputStream
-          .computeInt32Size(3, rssi_);
+          .computeFloatSize(3, longitude_);
+      }
+      if (floor_ != 0) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeInt32Size(4, floor_);
       }
       memoizedSize = size;
       return size;
     }
 
     private static final long serialVersionUID = 0L;
-    @Override
-    public boolean equals(final Object obj) {
+    @java.lang.Override
+    public boolean equals(final java.lang.Object obj) {
       if (obj == this) {
        return true;
       }
-      if (!(obj instanceof Mac_Scan)) {
+      if (!(obj instanceof com.openpositioning.PositionMe.Traj.Position)) {
         return super.equals(obj);
       }
-      Mac_Scan other = (Mac_Scan) obj;
+      com.openpositioning.PositionMe.Traj.Position other = (com.openpositioning.PositionMe.Traj.Position) obj;
 
       boolean result = true;
       result = result && (getRelativeTimestamp()
           == other.getRelativeTimestamp());
-      result = result && (getMac()
-          == other.getMac());
-      result = result && (getRssi()
-          == other.getRssi());
+      result = result && (
+          java.lang.Float.floatToIntBits(getLatitude())
+          == java.lang.Float.floatToIntBits(
+              other.getLatitude()));
+      result = result && (
+          java.lang.Float.floatToIntBits(getLongitude())
+          == java.lang.Float.floatToIntBits(
+              other.getLongitude()));
+      result = result && (getFloor()
+          == other.getFloor());
       return result;
     }
 
-    @Override
+    @java.lang.Override
     public int hashCode() {
       if (memoizedHashCode != 0) {
         return memoizedHashCode;
@@ -10477,68 +11248,71 @@ public int hashCode() {
       hash = (37 * hash) + RELATIVE_TIMESTAMP_FIELD_NUMBER;
       hash = (53 * hash) + com.google.protobuf.Internal.hashLong(
           getRelativeTimestamp());
-      hash = (37 * hash) + MAC_FIELD_NUMBER;
-      hash = (53 * hash) + com.google.protobuf.Internal.hashLong(
-          getMac());
-      hash = (37 * hash) + RSSI_FIELD_NUMBER;
-      hash = (53 * hash) + getRssi();
+      hash = (37 * hash) + LATITUDE_FIELD_NUMBER;
+      hash = (53 * hash) + java.lang.Float.floatToIntBits(
+          getLatitude());
+      hash = (37 * hash) + LONGITUDE_FIELD_NUMBER;
+      hash = (53 * hash) + java.lang.Float.floatToIntBits(
+          getLongitude());
+      hash = (37 * hash) + FLOOR_FIELD_NUMBER;
+      hash = (53 * hash) + getFloor();
       hash = (29 * hash) + unknownFields.hashCode();
       memoizedHashCode = hash;
       return hash;
     }
 
-    public static Mac_Scan parseFrom(
+    public static com.openpositioning.PositionMe.Traj.Position parseFrom(
         com.google.protobuf.ByteString data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static Mac_Scan parseFrom(
+    public static com.openpositioning.PositionMe.Traj.Position parseFrom(
         com.google.protobuf.ByteString data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static Mac_Scan parseFrom(byte[] data)
+    public static com.openpositioning.PositionMe.Traj.Position parseFrom(byte[] data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static Mac_Scan parseFrom(
+    public static com.openpositioning.PositionMe.Traj.Position parseFrom(
         byte[] data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static Mac_Scan parseFrom(java.io.InputStream input)
+    public static com.openpositioning.PositionMe.Traj.Position parseFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input);
     }
-    public static Mac_Scan parseFrom(
+    public static com.openpositioning.PositionMe.Traj.Position parseFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input, extensionRegistry);
     }
-    public static Mac_Scan parseDelimitedFrom(java.io.InputStream input)
+    public static com.openpositioning.PositionMe.Traj.Position parseDelimitedFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseDelimitedWithIOException(PARSER, input);
     }
-    public static Mac_Scan parseDelimitedFrom(
+    public static com.openpositioning.PositionMe.Traj.Position parseDelimitedFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
     }
-    public static Mac_Scan parseFrom(
+    public static com.openpositioning.PositionMe.Traj.Position parseFrom(
         com.google.protobuf.CodedInputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input);
     }
-    public static Mac_Scan parseFrom(
+    public static com.openpositioning.PositionMe.Traj.Position parseFrom(
         com.google.protobuf.CodedInputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
@@ -10550,7 +11324,7 @@ public static Mac_Scan parseFrom(
     public static Builder newBuilder() {
       return DEFAULT_INSTANCE.toBuilder();
     }
-    public static Builder newBuilder(Mac_Scan prototype) {
+    public static Builder newBuilder(com.openpositioning.PositionMe.Traj.Position prototype) {
       return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
     }
     public Builder toBuilder() {
@@ -10558,32 +11332,32 @@ public Builder toBuilder() {
           ? new Builder() : new Builder().mergeFrom(this);
     }
 
-    @Override
+    @java.lang.Override
     protected Builder newBuilderForType(
         com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
       Builder builder = new Builder(parent);
       return builder;
     }
     /**
-     * Protobuf type {@code Mac_Scan}
+     * Protobuf type {@code Position}
      */
     public static final class Builder extends
         com.google.protobuf.GeneratedMessageV3.Builder<Builder> implements
-        // @@protoc_insertion_point(builder_implements:Mac_Scan)
-        Mac_ScanOrBuilder {
+        // @@protoc_insertion_point(builder_implements:Position)
+        com.openpositioning.PositionMe.Traj.PositionOrBuilder {
       public static final com.google.protobuf.Descriptors.Descriptor
           getDescriptor() {
-        return Traj.internal_static_Mac_Scan_descriptor;
+        return com.openpositioning.PositionMe.Traj.internal_static_Position_descriptor;
       }
 
       protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
           internalGetFieldAccessorTable() {
-        return Traj.internal_static_Mac_Scan_fieldAccessorTable
+        return com.openpositioning.PositionMe.Traj.internal_static_Position_fieldAccessorTable
             .ensureFieldAccessorsInitialized(
-                Mac_Scan.class, Builder.class);
+                com.openpositioning.PositionMe.Traj.Position.class, com.openpositioning.PositionMe.Traj.Position.Builder.class);
       }
 
-      // Construct using Traj.Mac_Scan.newBuilder()
+      // Construct using com.openpositioning.PositionMe.Traj.Position.newBuilder()
       private Builder() {
         maybeForceBuilderInitialization();
       }
@@ -10602,35 +11376,38 @@ public Builder clear() {
         super.clear();
         relativeTimestamp_ = 0L;
 
-        mac_ = 0L;
+        latitude_ = 0F;
 
-        rssi_ = 0;
+        longitude_ = 0F;
+
+        floor_ = 0;
 
         return this;
       }
 
       public com.google.protobuf.Descriptors.Descriptor
           getDescriptorForType() {
-        return Traj.internal_static_Mac_Scan_descriptor;
+        return com.openpositioning.PositionMe.Traj.internal_static_Position_descriptor;
       }
 
-      public Mac_Scan getDefaultInstanceForType() {
-        return Mac_Scan.getDefaultInstance();
+      public com.openpositioning.PositionMe.Traj.Position getDefaultInstanceForType() {
+        return com.openpositioning.PositionMe.Traj.Position.getDefaultInstance();
       }
 
-      public Mac_Scan build() {
-        Mac_Scan result = buildPartial();
+      public com.openpositioning.PositionMe.Traj.Position build() {
+        com.openpositioning.PositionMe.Traj.Position result = buildPartial();
         if (!result.isInitialized()) {
           throw newUninitializedMessageException(result);
         }
         return result;
       }
 
-      public Mac_Scan buildPartial() {
-        Mac_Scan result = new Mac_Scan(this);
+      public com.openpositioning.PositionMe.Traj.Position buildPartial() {
+        com.openpositioning.PositionMe.Traj.Position result = new com.openpositioning.PositionMe.Traj.Position(this);
         result.relativeTimestamp_ = relativeTimestamp_;
-        result.mac_ = mac_;
-        result.rssi_ = rssi_;
+        result.latitude_ = latitude_;
+        result.longitude_ = longitude_;
+        result.floor_ = floor_;
         onBuilt();
         return result;
       }
@@ -10662,24 +11439,27 @@ public Builder addRepeatedField(
         return (Builder) super.addRepeatedField(field, value);
       }
       public Builder mergeFrom(com.google.protobuf.Message other) {
-        if (other instanceof Mac_Scan) {
-          return mergeFrom((Mac_Scan)other);
+        if (other instanceof com.openpositioning.PositionMe.Traj.Position) {
+          return mergeFrom((com.openpositioning.PositionMe.Traj.Position)other);
         } else {
           super.mergeFrom(other);
           return this;
         }
       }
 
-      public Builder mergeFrom(Mac_Scan other) {
-        if (other == Mac_Scan.getDefaultInstance()) return this;
+      public Builder mergeFrom(com.openpositioning.PositionMe.Traj.Position other) {
+        if (other == com.openpositioning.PositionMe.Traj.Position.getDefaultInstance()) return this;
         if (other.getRelativeTimestamp() != 0L) {
           setRelativeTimestamp(other.getRelativeTimestamp());
         }
-        if (other.getMac() != 0L) {
-          setMac(other.getMac());
+        if (other.getLatitude() != 0F) {
+          setLatitude(other.getLatitude());
         }
-        if (other.getRssi() != 0) {
-          setRssi(other.getRssi());
+        if (other.getLongitude() != 0F) {
+          setLongitude(other.getLongitude());
+        }
+        if (other.getFloor() != 0) {
+          setFloor(other.getFloor());
         }
         onChanged();
         return this;
@@ -10693,11 +11473,11 @@ public Builder mergeFrom(
           com.google.protobuf.CodedInputStream input,
           com.google.protobuf.ExtensionRegistryLite extensionRegistry)
           throws java.io.IOException {
-        Mac_Scan parsedMessage = null;
+        com.openpositioning.PositionMe.Traj.Position parsedMessage = null;
         try {
           parsedMessage = PARSER.parsePartialFrom(input, extensionRegistry);
         } catch (com.google.protobuf.InvalidProtocolBufferException e) {
-          parsedMessage = (Mac_Scan) e.getUnfinishedMessage();
+          parsedMessage = (com.openpositioning.PositionMe.Traj.Position) e.getUnfinishedMessage();
           throw e.unwrapIOException();
         } finally {
           if (parsedMessage != null) {
@@ -10733,84 +11513,80 @@ public Builder clearRelativeTimestamp() {
         return this;
       }
 
-      private long mac_ ;
+      private float latitude_ ;
       /**
-       * <pre>
-       * Integer encoding of the hex mac address
-       * e.g. 207394925843984
-       * </pre>
-       *
-       * <code>optional int64 mac = 2;</code>
+       * <code>optional float latitude = 2;</code>
        */
-      public long getMac() {
-        return mac_;
+      public float getLatitude() {
+        return latitude_;
       }
       /**
-       * <pre>
-       * Integer encoding of the hex mac address
-       * e.g. 207394925843984
-       * </pre>
-       *
-       * <code>optional int64 mac = 2;</code>
+       * <code>optional float latitude = 2;</code>
        */
-      public Builder setMac(long value) {
+      public Builder setLatitude(float value) {
         
-        mac_ = value;
+        latitude_ = value;
         onChanged();
         return this;
       }
       /**
-       * <pre>
-       * Integer encoding of the hex mac address
-       * e.g. 207394925843984
-       * </pre>
-       *
-       * <code>optional int64 mac = 2;</code>
+       * <code>optional float latitude = 2;</code>
        */
-      public Builder clearMac() {
+      public Builder clearLatitude() {
         
-        mac_ = 0L;
+        latitude_ = 0F;
         onChanged();
         return this;
       }
 
-      private int rssi_ ;
+      private float longitude_ ;
       /**
-       * <pre>
-       * rssi integer in dBm.
-       * typically between -120 and -10
-       * </pre>
-       *
-       * <code>optional int32 rssi = 3;</code>
+       * <code>optional float longitude = 3;</code>
        */
-      public int getRssi() {
-        return rssi_;
+      public float getLongitude() {
+        return longitude_;
       }
       /**
-       * <pre>
-       * rssi integer in dBm.
-       * typically between -120 and -10
-       * </pre>
-       *
-       * <code>optional int32 rssi = 3;</code>
+       * <code>optional float longitude = 3;</code>
        */
-      public Builder setRssi(int value) {
+      public Builder setLongitude(float value) {
         
-        rssi_ = value;
+        longitude_ = value;
         onChanged();
         return this;
       }
       /**
-       * <pre>
-       * rssi integer in dBm.
-       * typically between -120 and -10
-       * </pre>
-       *
-       * <code>optional int32 rssi = 3;</code>
+       * <code>optional float longitude = 3;</code>
        */
-      public Builder clearRssi() {
+      public Builder clearLongitude() {
         
-        rssi_ = 0;
+        longitude_ = 0F;
+        onChanged();
+        return this;
+      }
+
+      private int floor_ ;
+      /**
+       * <code>optional int32 floor = 4;</code>
+       */
+      public int getFloor() {
+        return floor_;
+      }
+      /**
+       * <code>optional int32 floor = 4;</code>
+       */
+      public Builder setFloor(int value) {
+        
+        floor_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * <code>optional int32 floor = 4;</code>
+       */
+      public Builder clearFloor() {
+        
+        floor_ = 0;
         onChanged();
         return this;
       }
@@ -10825,108 +11601,96 @@ public final Builder mergeUnknownFields(
       }
 
 
-      // @@protoc_insertion_point(builder_scope:Mac_Scan)
+      // @@protoc_insertion_point(builder_scope:Position)
     }
 
-    // @@protoc_insertion_point(class_scope:Mac_Scan)
-    private static final Mac_Scan DEFAULT_INSTANCE;
+    // @@protoc_insertion_point(class_scope:Position)
+    private static final com.openpositioning.PositionMe.Traj.Position DEFAULT_INSTANCE;
     static {
-      DEFAULT_INSTANCE = new Mac_Scan();
+      DEFAULT_INSTANCE = new com.openpositioning.PositionMe.Traj.Position();
     }
 
-    public static Mac_Scan getDefaultInstance() {
+    public static com.openpositioning.PositionMe.Traj.Position getDefaultInstance() {
       return DEFAULT_INSTANCE;
     }
 
-    private static final com.google.protobuf.Parser<Mac_Scan>
-        PARSER = new com.google.protobuf.AbstractParser<Mac_Scan>() {
-      public Mac_Scan parsePartialFrom(
+    private static final com.google.protobuf.Parser<Position>
+        PARSER = new com.google.protobuf.AbstractParser<Position>() {
+      public Position parsePartialFrom(
           com.google.protobuf.CodedInputStream input,
           com.google.protobuf.ExtensionRegistryLite extensionRegistry)
           throws com.google.protobuf.InvalidProtocolBufferException {
-          return new Mac_Scan(input, extensionRegistry);
+          return new Position(input, extensionRegistry);
       }
     };
 
-    public static com.google.protobuf.Parser<Mac_Scan> parser() {
+    public static com.google.protobuf.Parser<Position> parser() {
       return PARSER;
     }
 
-    @Override
-    public com.google.protobuf.Parser<Mac_Scan> getParserForType() {
+    @java.lang.Override
+    public com.google.protobuf.Parser<Position> getParserForType() {
       return PARSER;
     }
 
-    public Mac_Scan getDefaultInstanceForType() {
+    public com.openpositioning.PositionMe.Traj.Position getDefaultInstanceForType() {
       return DEFAULT_INSTANCE;
     }
 
   }
 
-  public interface AP_DataOrBuilder extends
-      // @@protoc_insertion_point(interface_extends:AP_Data)
+  public interface Mac_ScanOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:Mac_Scan)
       com.google.protobuf.MessageOrBuilder {
 
     /**
-     * <pre>
-     * Integer encoding of the hex mac address
-     * e.g. 207394925843984
-     * </pre>
-     *
-     * <code>optional int64 mac = 1;</code>
+     * <code>optional int64 relative_timestamp = 1;</code>
      */
-    long getMac();
+    long getRelativeTimestamp();
 
     /**
      * <pre>
-     * E.g. 'Eduroam' or 'Starbucks_free_wifi'
-     * </pre>
-     *
-     * <code>optional string ssid = 2;</code>
-     */
-    String getSsid();
-    /**
-     * <pre>
-     * E.g. 'Eduroam' or 'Starbucks_free_wifi'
+     * Integer encoding of the hex mac address
+     * e.g. 207394925843984
      * </pre>
      *
-     * <code>optional string ssid = 2;</code>
+     * <code>optional int64 mac = 2;</code>
      */
-    com.google.protobuf.ByteString
-        getSsidBytes();
+    long getMac();
 
     /**
      * <pre>
-     * Typically 2.4GHz or 5GHz
+     * rssi integer in dBm.
+     * typically between -120 and -10
      * </pre>
      *
-     * <code>optional int64 frequency = 3;</code>
+     * <code>optional int32 rssi = 3;</code>
      */
-    long getFrequency();
+    int getRssi();
   }
   /**
-   * Protobuf type {@code AP_Data}
+   * Protobuf type {@code Mac_Scan}
    */
-  public  static final class AP_Data extends
+  public  static final class Mac_Scan extends
       com.google.protobuf.GeneratedMessageV3 implements
-      // @@protoc_insertion_point(message_implements:AP_Data)
-      AP_DataOrBuilder {
-    // Use AP_Data.newBuilder() to construct.
-    private AP_Data(com.google.protobuf.GeneratedMessageV3.Builder<?> builder) {
+      // @@protoc_insertion_point(message_implements:Mac_Scan)
+      Mac_ScanOrBuilder {
+    // Use Mac_Scan.newBuilder() to construct.
+    private Mac_Scan(com.google.protobuf.GeneratedMessageV3.Builder<?> builder) {
       super(builder);
     }
-    private AP_Data() {
+    private Mac_Scan() {
+      relativeTimestamp_ = 0L;
       mac_ = 0L;
-      ssid_ = "";
-      frequency_ = 0L;
+      rssi_ = 0;
     }
 
-    @Override
+    @java.lang.Override
     public final com.google.protobuf.UnknownFieldSet
     getUnknownFields() {
       return com.google.protobuf.UnknownFieldSet.getDefaultInstance();
     }
-    private AP_Data(
+    private Mac_Scan(
         com.google.protobuf.CodedInputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
@@ -10948,18 +11712,17 @@ private AP_Data(
             }
             case 8: {
 
-              mac_ = input.readInt64();
+              relativeTimestamp_ = input.readInt64();
               break;
             }
-            case 18: {
-              String s = input.readStringRequireUtf8();
+            case 16: {
 
-              ssid_ = s;
+              mac_ = input.readInt64();
               break;
             }
             case 24: {
 
-              frequency_ = input.readInt64();
+              rssi_ = input.readInt32();
               break;
             }
           }
@@ -10975,17 +11738,26 @@ private AP_Data(
     }
     public static final com.google.protobuf.Descriptors.Descriptor
         getDescriptor() {
-      return Traj.internal_static_AP_Data_descriptor;
+      return com.openpositioning.PositionMe.Traj.internal_static_Mac_Scan_descriptor;
     }
 
     protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
         internalGetFieldAccessorTable() {
-      return Traj.internal_static_AP_Data_fieldAccessorTable
+      return com.openpositioning.PositionMe.Traj.internal_static_Mac_Scan_fieldAccessorTable
           .ensureFieldAccessorsInitialized(
-              AP_Data.class, Builder.class);
+              com.openpositioning.PositionMe.Traj.Mac_Scan.class, com.openpositioning.PositionMe.Traj.Mac_Scan.Builder.class);
     }
 
-    public static final int MAC_FIELD_NUMBER = 1;
+    public static final int RELATIVE_TIMESTAMP_FIELD_NUMBER = 1;
+    private long relativeTimestamp_;
+    /**
+     * <code>optional int64 relative_timestamp = 1;</code>
+     */
+    public long getRelativeTimestamp() {
+      return relativeTimestamp_;
+    }
+
+    public static final int MAC_FIELD_NUMBER = 2;
     private long mac_;
     /**
      * <pre>
@@ -10993,65 +11765,24 @@ private AP_Data(
      * e.g. 207394925843984
      * </pre>
      *
-     * <code>optional int64 mac = 1;</code>
+     * <code>optional int64 mac = 2;</code>
      */
     public long getMac() {
       return mac_;
     }
 
-    public static final int SSID_FIELD_NUMBER = 2;
-    private volatile Object ssid_;
-    /**
-     * <pre>
-     * E.g. 'Eduroam' or 'Starbucks_free_wifi'
-     * </pre>
-     *
-     * <code>optional string ssid = 2;</code>
-     */
-    public String getSsid() {
-      Object ref = ssid_;
-      if (ref instanceof String) {
-        return (String) ref;
-      } else {
-        com.google.protobuf.ByteString bs = 
-            (com.google.protobuf.ByteString) ref;
-        String s = bs.toStringUtf8();
-        ssid_ = s;
-        return s;
-      }
-    }
-    /**
-     * <pre>
-     * E.g. 'Eduroam' or 'Starbucks_free_wifi'
-     * </pre>
-     *
-     * <code>optional string ssid = 2;</code>
-     */
-    public com.google.protobuf.ByteString
-        getSsidBytes() {
-      Object ref = ssid_;
-      if (ref instanceof String) {
-        com.google.protobuf.ByteString b = 
-            com.google.protobuf.ByteString.copyFromUtf8(
-                (String) ref);
-        ssid_ = b;
-        return b;
-      } else {
-        return (com.google.protobuf.ByteString) ref;
-      }
-    }
-
-    public static final int FREQUENCY_FIELD_NUMBER = 3;
-    private long frequency_;
+    public static final int RSSI_FIELD_NUMBER = 3;
+    private int rssi_;
     /**
      * <pre>
-     * Typically 2.4GHz or 5GHz
+     * rssi integer in dBm.
+     * typically between -120 and -10
      * </pre>
      *
-     * <code>optional int64 frequency = 3;</code>
+     * <code>optional int32 rssi = 3;</code>
      */
-    public long getFrequency() {
-      return frequency_;
+    public int getRssi() {
+      return rssi_;
     }
 
     private byte memoizedIsInitialized = -1;
@@ -11066,14 +11797,14 @@ public final boolean isInitialized() {
 
     public void writeTo(com.google.protobuf.CodedOutputStream output)
                         throws java.io.IOException {
-      if (mac_ != 0L) {
-        output.writeInt64(1, mac_);
+      if (relativeTimestamp_ != 0L) {
+        output.writeInt64(1, relativeTimestamp_);
       }
-      if (!getSsidBytes().isEmpty()) {
-        com.google.protobuf.GeneratedMessageV3.writeString(output, 2, ssid_);
+      if (mac_ != 0L) {
+        output.writeInt64(2, mac_);
       }
-      if (frequency_ != 0L) {
-        output.writeInt64(3, frequency_);
+      if (rssi_ != 0) {
+        output.writeInt32(3, rssi_);
       }
     }
 
@@ -11082,114 +11813,115 @@ public int getSerializedSize() {
       if (size != -1) return size;
 
       size = 0;
-      if (mac_ != 0L) {
+      if (relativeTimestamp_ != 0L) {
         size += com.google.protobuf.CodedOutputStream
-          .computeInt64Size(1, mac_);
+          .computeInt64Size(1, relativeTimestamp_);
       }
-      if (!getSsidBytes().isEmpty()) {
-        size += com.google.protobuf.GeneratedMessageV3.computeStringSize(2, ssid_);
+      if (mac_ != 0L) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeInt64Size(2, mac_);
       }
-      if (frequency_ != 0L) {
+      if (rssi_ != 0) {
         size += com.google.protobuf.CodedOutputStream
-          .computeInt64Size(3, frequency_);
+          .computeInt32Size(3, rssi_);
       }
       memoizedSize = size;
       return size;
     }
 
     private static final long serialVersionUID = 0L;
-    @Override
-    public boolean equals(final Object obj) {
+    @java.lang.Override
+    public boolean equals(final java.lang.Object obj) {
       if (obj == this) {
        return true;
       }
-      if (!(obj instanceof AP_Data)) {
+      if (!(obj instanceof com.openpositioning.PositionMe.Traj.Mac_Scan)) {
         return super.equals(obj);
       }
-      AP_Data other = (AP_Data) obj;
+      com.openpositioning.PositionMe.Traj.Mac_Scan other = (com.openpositioning.PositionMe.Traj.Mac_Scan) obj;
 
       boolean result = true;
+      result = result && (getRelativeTimestamp()
+          == other.getRelativeTimestamp());
       result = result && (getMac()
           == other.getMac());
-      result = result && getSsid()
-          .equals(other.getSsid());
-      result = result && (getFrequency()
-          == other.getFrequency());
+      result = result && (getRssi()
+          == other.getRssi());
       return result;
     }
 
-    @Override
+    @java.lang.Override
     public int hashCode() {
       if (memoizedHashCode != 0) {
         return memoizedHashCode;
       }
       int hash = 41;
       hash = (19 * hash) + getDescriptorForType().hashCode();
+      hash = (37 * hash) + RELATIVE_TIMESTAMP_FIELD_NUMBER;
+      hash = (53 * hash) + com.google.protobuf.Internal.hashLong(
+          getRelativeTimestamp());
       hash = (37 * hash) + MAC_FIELD_NUMBER;
       hash = (53 * hash) + com.google.protobuf.Internal.hashLong(
           getMac());
-      hash = (37 * hash) + SSID_FIELD_NUMBER;
-      hash = (53 * hash) + getSsid().hashCode();
-      hash = (37 * hash) + FREQUENCY_FIELD_NUMBER;
-      hash = (53 * hash) + com.google.protobuf.Internal.hashLong(
-          getFrequency());
+      hash = (37 * hash) + RSSI_FIELD_NUMBER;
+      hash = (53 * hash) + getRssi();
       hash = (29 * hash) + unknownFields.hashCode();
       memoizedHashCode = hash;
       return hash;
     }
 
-    public static AP_Data parseFrom(
+    public static com.openpositioning.PositionMe.Traj.Mac_Scan parseFrom(
         com.google.protobuf.ByteString data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static AP_Data parseFrom(
+    public static com.openpositioning.PositionMe.Traj.Mac_Scan parseFrom(
         com.google.protobuf.ByteString data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static AP_Data parseFrom(byte[] data)
+    public static com.openpositioning.PositionMe.Traj.Mac_Scan parseFrom(byte[] data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static AP_Data parseFrom(
+    public static com.openpositioning.PositionMe.Traj.Mac_Scan parseFrom(
         byte[] data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static AP_Data parseFrom(java.io.InputStream input)
+    public static com.openpositioning.PositionMe.Traj.Mac_Scan parseFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input);
     }
-    public static AP_Data parseFrom(
+    public static com.openpositioning.PositionMe.Traj.Mac_Scan parseFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input, extensionRegistry);
     }
-    public static AP_Data parseDelimitedFrom(java.io.InputStream input)
+    public static com.openpositioning.PositionMe.Traj.Mac_Scan parseDelimitedFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseDelimitedWithIOException(PARSER, input);
     }
-    public static AP_Data parseDelimitedFrom(
+    public static com.openpositioning.PositionMe.Traj.Mac_Scan parseDelimitedFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
     }
-    public static AP_Data parseFrom(
+    public static com.openpositioning.PositionMe.Traj.Mac_Scan parseFrom(
         com.google.protobuf.CodedInputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input);
     }
-    public static AP_Data parseFrom(
+    public static com.openpositioning.PositionMe.Traj.Mac_Scan parseFrom(
         com.google.protobuf.CodedInputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
@@ -11201,7 +11933,7 @@ public static AP_Data parseFrom(
     public static Builder newBuilder() {
       return DEFAULT_INSTANCE.toBuilder();
     }
-    public static Builder newBuilder(AP_Data prototype) {
+    public static Builder newBuilder(com.openpositioning.PositionMe.Traj.Mac_Scan prototype) {
       return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
     }
     public Builder toBuilder() {
@@ -11209,32 +11941,32 @@ public Builder toBuilder() {
           ? new Builder() : new Builder().mergeFrom(this);
     }
 
-    @Override
+    @java.lang.Override
     protected Builder newBuilderForType(
         com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
       Builder builder = new Builder(parent);
       return builder;
     }
     /**
-     * Protobuf type {@code AP_Data}
+     * Protobuf type {@code Mac_Scan}
      */
     public static final class Builder extends
         com.google.protobuf.GeneratedMessageV3.Builder<Builder> implements
-        // @@protoc_insertion_point(builder_implements:AP_Data)
-        AP_DataOrBuilder {
+        // @@protoc_insertion_point(builder_implements:Mac_Scan)
+        com.openpositioning.PositionMe.Traj.Mac_ScanOrBuilder {
       public static final com.google.protobuf.Descriptors.Descriptor
           getDescriptor() {
-        return Traj.internal_static_AP_Data_descriptor;
+        return com.openpositioning.PositionMe.Traj.internal_static_Mac_Scan_descriptor;
       }
 
       protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
           internalGetFieldAccessorTable() {
-        return Traj.internal_static_AP_Data_fieldAccessorTable
+        return com.openpositioning.PositionMe.Traj.internal_static_Mac_Scan_fieldAccessorTable
             .ensureFieldAccessorsInitialized(
-                AP_Data.class, Builder.class);
+                com.openpositioning.PositionMe.Traj.Mac_Scan.class, com.openpositioning.PositionMe.Traj.Mac_Scan.Builder.class);
       }
 
-      // Construct using Traj.AP_Data.newBuilder()
+      // Construct using com.openpositioning.PositionMe.Traj.Mac_Scan.newBuilder()
       private Builder() {
         maybeForceBuilderInitialization();
       }
@@ -11251,37 +11983,37 @@ private void maybeForceBuilderInitialization() {
       }
       public Builder clear() {
         super.clear();
-        mac_ = 0L;
+        relativeTimestamp_ = 0L;
 
-        ssid_ = "";
+        mac_ = 0L;
 
-        frequency_ = 0L;
+        rssi_ = 0;
 
         return this;
       }
 
       public com.google.protobuf.Descriptors.Descriptor
           getDescriptorForType() {
-        return Traj.internal_static_AP_Data_descriptor;
+        return com.openpositioning.PositionMe.Traj.internal_static_Mac_Scan_descriptor;
       }
 
-      public AP_Data getDefaultInstanceForType() {
-        return AP_Data.getDefaultInstance();
+      public com.openpositioning.PositionMe.Traj.Mac_Scan getDefaultInstanceForType() {
+        return com.openpositioning.PositionMe.Traj.Mac_Scan.getDefaultInstance();
       }
 
-      public AP_Data build() {
-        AP_Data result = buildPartial();
+      public com.openpositioning.PositionMe.Traj.Mac_Scan build() {
+        com.openpositioning.PositionMe.Traj.Mac_Scan result = buildPartial();
         if (!result.isInitialized()) {
           throw newUninitializedMessageException(result);
         }
         return result;
       }
 
-      public AP_Data buildPartial() {
-        AP_Data result = new AP_Data(this);
+      public com.openpositioning.PositionMe.Traj.Mac_Scan buildPartial() {
+        com.openpositioning.PositionMe.Traj.Mac_Scan result = new com.openpositioning.PositionMe.Traj.Mac_Scan(this);
+        result.relativeTimestamp_ = relativeTimestamp_;
         result.mac_ = mac_;
-        result.ssid_ = ssid_;
-        result.frequency_ = frequency_;
+        result.rssi_ = rssi_;
         onBuilt();
         return result;
       }
@@ -11313,25 +12045,24 @@ public Builder addRepeatedField(
         return (Builder) super.addRepeatedField(field, value);
       }
       public Builder mergeFrom(com.google.protobuf.Message other) {
-        if (other instanceof AP_Data) {
-          return mergeFrom((AP_Data)other);
+        if (other instanceof com.openpositioning.PositionMe.Traj.Mac_Scan) {
+          return mergeFrom((com.openpositioning.PositionMe.Traj.Mac_Scan)other);
         } else {
           super.mergeFrom(other);
           return this;
         }
       }
 
-      public Builder mergeFrom(AP_Data other) {
-        if (other == AP_Data.getDefaultInstance()) return this;
+      public Builder mergeFrom(com.openpositioning.PositionMe.Traj.Mac_Scan other) {
+        if (other == com.openpositioning.PositionMe.Traj.Mac_Scan.getDefaultInstance()) return this;
+        if (other.getRelativeTimestamp() != 0L) {
+          setRelativeTimestamp(other.getRelativeTimestamp());
+        }
         if (other.getMac() != 0L) {
           setMac(other.getMac());
         }
-        if (!other.getSsid().isEmpty()) {
-          ssid_ = other.ssid_;
-          onChanged();
-        }
-        if (other.getFrequency() != 0L) {
-          setFrequency(other.getFrequency());
+        if (other.getRssi() != 0) {
+          setRssi(other.getRssi());
         }
         onChanged();
         return this;
@@ -11345,11 +12076,11 @@ public Builder mergeFrom(
           com.google.protobuf.CodedInputStream input,
           com.google.protobuf.ExtensionRegistryLite extensionRegistry)
           throws java.io.IOException {
-        AP_Data parsedMessage = null;
+        com.openpositioning.PositionMe.Traj.Mac_Scan parsedMessage = null;
         try {
           parsedMessage = PARSER.parsePartialFrom(input, extensionRegistry);
         } catch (com.google.protobuf.InvalidProtocolBufferException e) {
-          parsedMessage = (AP_Data) e.getUnfinishedMessage();
+          parsedMessage = (com.openpositioning.PositionMe.Traj.Mac_Scan) e.getUnfinishedMessage();
           throw e.unwrapIOException();
         } finally {
           if (parsedMessage != null) {
@@ -11359,14 +12090,40 @@ public Builder mergeFrom(
         return this;
       }
 
-      private long mac_ ;
+      private long relativeTimestamp_ ;
       /**
-       * <pre>
-       * Integer encoding of the hex mac address
+       * <code>optional int64 relative_timestamp = 1;</code>
+       */
+      public long getRelativeTimestamp() {
+        return relativeTimestamp_;
+      }
+      /**
+       * <code>optional int64 relative_timestamp = 1;</code>
+       */
+      public Builder setRelativeTimestamp(long value) {
+        
+        relativeTimestamp_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * <code>optional int64 relative_timestamp = 1;</code>
+       */
+      public Builder clearRelativeTimestamp() {
+        
+        relativeTimestamp_ = 0L;
+        onChanged();
+        return this;
+      }
+
+      private long mac_ ;
+      /**
+       * <pre>
+       * Integer encoding of the hex mac address
        * e.g. 207394925843984
        * </pre>
        *
-       * <code>optional int64 mac = 1;</code>
+       * <code>optional int64 mac = 2;</code>
        */
       public long getMac() {
         return mac_;
@@ -11377,7 +12134,7 @@ public long getMac() {
        * e.g. 207394925843984
        * </pre>
        *
-       * <code>optional int64 mac = 1;</code>
+       * <code>optional int64 mac = 2;</code>
        */
       public Builder setMac(long value) {
         
@@ -11391,7 +12148,7 @@ public Builder setMac(long value) {
        * e.g. 207394925843984
        * </pre>
        *
-       * <code>optional int64 mac = 1;</code>
+       * <code>optional int64 mac = 2;</code>
        */
       public Builder clearMac() {
         
@@ -11400,129 +12157,2151 @@ public Builder clearMac() {
         return this;
       }
 
-      private Object ssid_ = "";
-      /**
-       * <pre>
-       * E.g. 'Eduroam' or 'Starbucks_free_wifi'
-       * </pre>
-       *
-       * <code>optional string ssid = 2;</code>
-       */
-      public String getSsid() {
-        Object ref = ssid_;
-        if (!(ref instanceof String)) {
-          com.google.protobuf.ByteString bs =
-              (com.google.protobuf.ByteString) ref;
-          String s = bs.toStringUtf8();
-          ssid_ = s;
-          return s;
-        } else {
-          return (String) ref;
-        }
-      }
+      private int rssi_ ;
       /**
        * <pre>
-       * E.g. 'Eduroam' or 'Starbucks_free_wifi'
+       * rssi integer in dBm.
+       * typically between -120 and -10
        * </pre>
        *
-       * <code>optional string ssid = 2;</code>
+       * <code>optional int32 rssi = 3;</code>
        */
-      public com.google.protobuf.ByteString
-          getSsidBytes() {
-        Object ref = ssid_;
-        if (ref instanceof String) {
-          com.google.protobuf.ByteString b = 
-              com.google.protobuf.ByteString.copyFromUtf8(
-                  (String) ref);
-          ssid_ = b;
-          return b;
-        } else {
-          return (com.google.protobuf.ByteString) ref;
-        }
+      public int getRssi() {
+        return rssi_;
       }
       /**
        * <pre>
-       * E.g. 'Eduroam' or 'Starbucks_free_wifi'
+       * rssi integer in dBm.
+       * typically between -120 and -10
        * </pre>
        *
-       * <code>optional string ssid = 2;</code>
+       * <code>optional int32 rssi = 3;</code>
        */
-      public Builder setSsid(
-          String value) {
-        if (value == null) {
-    throw new NullPointerException();
-  }
-  
-        ssid_ = value;
+      public Builder setRssi(int value) {
+        
+        rssi_ = value;
         onChanged();
         return this;
       }
       /**
        * <pre>
-       * E.g. 'Eduroam' or 'Starbucks_free_wifi'
+       * rssi integer in dBm.
+       * typically between -120 and -10
        * </pre>
        *
-       * <code>optional string ssid = 2;</code>
+       * <code>optional int32 rssi = 3;</code>
        */
-      public Builder clearSsid() {
+      public Builder clearRssi() {
         
-        ssid_ = getDefaultInstance().getSsid();
+        rssi_ = 0;
         onChanged();
         return this;
       }
-      /**
-       * <pre>
-       * E.g. 'Eduroam' or 'Starbucks_free_wifi'
-       * </pre>
-       *
-       * <code>optional string ssid = 2;</code>
-       */
-      public Builder setSsidBytes(
-          com.google.protobuf.ByteString value) {
-        if (value == null) {
-    throw new NullPointerException();
-  }
-  checkByteStringIsUtf8(value);
-        
-        ssid_ = value;
-        onChanged();
+      public final Builder setUnknownFields(
+          final com.google.protobuf.UnknownFieldSet unknownFields) {
         return this;
       }
 
-      private long frequency_ ;
-      /**
-       * <pre>
-       * Typically 2.4GHz or 5GHz
-       * </pre>
-       *
-       * <code>optional int64 frequency = 3;</code>
-       */
-      public long getFrequency() {
-        return frequency_;
-      }
-      /**
-       * <pre>
-       * Typically 2.4GHz or 5GHz
-       * </pre>
-       *
-       * <code>optional int64 frequency = 3;</code>
-       */
-      public Builder setFrequency(long value) {
-        
-        frequency_ = value;
-        onChanged();
+      public final Builder mergeUnknownFields(
+          final com.google.protobuf.UnknownFieldSet unknownFields) {
         return this;
       }
-      /**
-       * <pre>
-       * Typically 2.4GHz or 5GHz
-       * </pre>
-       *
-       * <code>optional int64 frequency = 3;</code>
+
+
+      // @@protoc_insertion_point(builder_scope:Mac_Scan)
+    }
+
+    // @@protoc_insertion_point(class_scope:Mac_Scan)
+    private static final com.openpositioning.PositionMe.Traj.Mac_Scan DEFAULT_INSTANCE;
+    static {
+      DEFAULT_INSTANCE = new com.openpositioning.PositionMe.Traj.Mac_Scan();
+    }
+
+    public static com.openpositioning.PositionMe.Traj.Mac_Scan getDefaultInstance() {
+      return DEFAULT_INSTANCE;
+    }
+
+    private static final com.google.protobuf.Parser<Mac_Scan>
+        PARSER = new com.google.protobuf.AbstractParser<Mac_Scan>() {
+      public Mac_Scan parsePartialFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+          return new Mac_Scan(input, extensionRegistry);
+      }
+    };
+
+    public static com.google.protobuf.Parser<Mac_Scan> parser() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public com.google.protobuf.Parser<Mac_Scan> getParserForType() {
+      return PARSER;
+    }
+
+    public com.openpositioning.PositionMe.Traj.Mac_Scan getDefaultInstanceForType() {
+      return DEFAULT_INSTANCE;
+    }
+
+  }
+
+  public interface AP_DataOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:AP_Data)
+      com.google.protobuf.MessageOrBuilder {
+
+    /**
+     * <pre>
+     * Integer encoding of the hex mac address
+     * e.g. 207394925843984
+     * </pre>
+     *
+     * <code>optional int64 mac = 1;</code>
+     */
+    long getMac();
+
+    /**
+     * <pre>
+     * E.g. 'Eduroam' or 'Starbucks_free_wifi'
+     * </pre>
+     *
+     * <code>optional string ssid = 2;</code>
+     */
+    java.lang.String getSsid();
+    /**
+     * <pre>
+     * E.g. 'Eduroam' or 'Starbucks_free_wifi'
+     * </pre>
+     *
+     * <code>optional string ssid = 2;</code>
+     */
+    com.google.protobuf.ByteString
+        getSsidBytes();
+
+    /**
+     * <pre>
+     * Typically 2.4GHz or 5GHz
+     * </pre>
+     *
+     * <code>optional int64 frequency = 3;</code>
+     */
+    long getFrequency();
+  }
+  /**
+   * Protobuf type {@code AP_Data}
+   */
+  public  static final class AP_Data extends
+      com.google.protobuf.GeneratedMessageV3 implements
+      // @@protoc_insertion_point(message_implements:AP_Data)
+      AP_DataOrBuilder {
+    // Use AP_Data.newBuilder() to construct.
+    private AP_Data(com.google.protobuf.GeneratedMessageV3.Builder<?> builder) {
+      super(builder);
+    }
+    private AP_Data() {
+      mac_ = 0L;
+      ssid_ = "";
+      frequency_ = 0L;
+    }
+
+    @java.lang.Override
+    public final com.google.protobuf.UnknownFieldSet
+    getUnknownFields() {
+      return com.google.protobuf.UnknownFieldSet.getDefaultInstance();
+    }
+    private AP_Data(
+        com.google.protobuf.CodedInputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      this();
+      int mutable_bitField0_ = 0;
+      try {
+        boolean done = false;
+        while (!done) {
+          int tag = input.readTag();
+          switch (tag) {
+            case 0:
+              done = true;
+              break;
+            default: {
+              if (!input.skipField(tag)) {
+                done = true;
+              }
+              break;
+            }
+            case 8: {
+
+              mac_ = input.readInt64();
+              break;
+            }
+            case 18: {
+              java.lang.String s = input.readStringRequireUtf8();
+
+              ssid_ = s;
+              break;
+            }
+            case 24: {
+
+              frequency_ = input.readInt64();
+              break;
+            }
+          }
+        }
+      } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+        throw e.setUnfinishedMessage(this);
+      } catch (java.io.IOException e) {
+        throw new com.google.protobuf.InvalidProtocolBufferException(
+            e).setUnfinishedMessage(this);
+      } finally {
+        makeExtensionsImmutable();
+      }
+    }
+    public static final com.google.protobuf.Descriptors.Descriptor
+        getDescriptor() {
+      return com.openpositioning.PositionMe.Traj.internal_static_AP_Data_descriptor;
+    }
+
+    protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+        internalGetFieldAccessorTable() {
+      return com.openpositioning.PositionMe.Traj.internal_static_AP_Data_fieldAccessorTable
+          .ensureFieldAccessorsInitialized(
+              com.openpositioning.PositionMe.Traj.AP_Data.class, com.openpositioning.PositionMe.Traj.AP_Data.Builder.class);
+    }
+
+    public static final int MAC_FIELD_NUMBER = 1;
+    private long mac_;
+    /**
+     * <pre>
+     * Integer encoding of the hex mac address
+     * e.g. 207394925843984
+     * </pre>
+     *
+     * <code>optional int64 mac = 1;</code>
+     */
+    public long getMac() {
+      return mac_;
+    }
+
+    public static final int SSID_FIELD_NUMBER = 2;
+    private volatile java.lang.Object ssid_;
+    /**
+     * <pre>
+     * E.g. 'Eduroam' or 'Starbucks_free_wifi'
+     * </pre>
+     *
+     * <code>optional string ssid = 2;</code>
+     */
+    public java.lang.String getSsid() {
+      java.lang.Object ref = ssid_;
+      if (ref instanceof java.lang.String) {
+        return (java.lang.String) ref;
+      } else {
+        com.google.protobuf.ByteString bs = 
+            (com.google.protobuf.ByteString) ref;
+        java.lang.String s = bs.toStringUtf8();
+        ssid_ = s;
+        return s;
+      }
+    }
+    /**
+     * <pre>
+     * E.g. 'Eduroam' or 'Starbucks_free_wifi'
+     * </pre>
+     *
+     * <code>optional string ssid = 2;</code>
+     */
+    public com.google.protobuf.ByteString
+        getSsidBytes() {
+      java.lang.Object ref = ssid_;
+      if (ref instanceof java.lang.String) {
+        com.google.protobuf.ByteString b = 
+            com.google.protobuf.ByteString.copyFromUtf8(
+                (java.lang.String) ref);
+        ssid_ = b;
+        return b;
+      } else {
+        return (com.google.protobuf.ByteString) ref;
+      }
+    }
+
+    public static final int FREQUENCY_FIELD_NUMBER = 3;
+    private long frequency_;
+    /**
+     * <pre>
+     * Typically 2.4GHz or 5GHz
+     * </pre>
+     *
+     * <code>optional int64 frequency = 3;</code>
+     */
+    public long getFrequency() {
+      return frequency_;
+    }
+
+    private byte memoizedIsInitialized = -1;
+    public final boolean isInitialized() {
+      byte isInitialized = memoizedIsInitialized;
+      if (isInitialized == 1) return true;
+      if (isInitialized == 0) return false;
+
+      memoizedIsInitialized = 1;
+      return true;
+    }
+
+    public void writeTo(com.google.protobuf.CodedOutputStream output)
+                        throws java.io.IOException {
+      if (mac_ != 0L) {
+        output.writeInt64(1, mac_);
+      }
+      if (!getSsidBytes().isEmpty()) {
+        com.google.protobuf.GeneratedMessageV3.writeString(output, 2, ssid_);
+      }
+      if (frequency_ != 0L) {
+        output.writeInt64(3, frequency_);
+      }
+    }
+
+    public int getSerializedSize() {
+      int size = memoizedSize;
+      if (size != -1) return size;
+
+      size = 0;
+      if (mac_ != 0L) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeInt64Size(1, mac_);
+      }
+      if (!getSsidBytes().isEmpty()) {
+        size += com.google.protobuf.GeneratedMessageV3.computeStringSize(2, ssid_);
+      }
+      if (frequency_ != 0L) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeInt64Size(3, frequency_);
+      }
+      memoizedSize = size;
+      return size;
+    }
+
+    private static final long serialVersionUID = 0L;
+    @java.lang.Override
+    public boolean equals(final java.lang.Object obj) {
+      if (obj == this) {
+       return true;
+      }
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+        onChanged();
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+      private java.lang.Object ssid_ = "";
+      /**
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+       *
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+      /**
+       * <pre>
+       * E.g. 'Eduroam' or 'Starbucks_free_wifi'
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+       * <pre>
+       * E.g. 'Eduroam' or 'Starbucks_free_wifi'
+       * </pre>
+       *
+       * <code>optional string ssid = 2;</code>
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+        onChanged();
+        return this;
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+      /**
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+       * E.g. 'Eduroam' or 'Starbucks_free_wifi'
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+        onChanged();
+        return this;
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+      private long frequency_ ;
+      /**
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+       * </pre>
+       *
+       * <code>optional int64 frequency = 3;</code>
+       */
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+        return frequency_;
+      }
+      /**
+       * <pre>
+       * Typically 2.4GHz or 5GHz
+       * </pre>
+       *
+       * <code>optional int64 frequency = 3;</code>
+       */
+      public Builder setFrequency(long value) {
+        
+        frequency_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * <pre>
+       * Typically 2.4GHz or 5GHz
+       * </pre>
+       *
+       * <code>optional int64 frequency = 3;</code>
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+      public Builder clearFrequency() {
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+        frequency_ = 0L;
+        onChanged();
+        return this;
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+    /**
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+
+    /**
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+  }
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+      vendor_ = "";
+      resolution_ = 0F;
+      power_ = 0F;
+      version_ = 0;
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+    public static final int POWER_FIELD_NUMBER = 4;
+    private float power_;
+    /**
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+    }
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+    public static final int VERSION_FIELD_NUMBER = 5;
+    private int version_;
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+    public boolean equals(final java.lang.Object obj) {
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+      if (!(obj instanceof com.openpositioning.PositionMe.Traj.Sensor_Info)) {
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+      boolean result = true;
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+      result = result && (getType()
+          == other.getType());
+      return result;
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+    @java.lang.Override
+    public int hashCode() {
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+      int hash = 41;
+      hash = (19 * hash) + getDescriptorForType().hashCode();
+      hash = (37 * hash) + NAME_FIELD_NUMBER;
+      hash = (53 * hash) + getName().hashCode();
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+    public static com.openpositioning.PositionMe.Traj.Sensor_Info parseFrom(
+        com.google.protobuf.ByteString data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static com.openpositioning.PositionMe.Traj.Sensor_Info parseFrom(
+        com.google.protobuf.ByteString data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static com.openpositioning.PositionMe.Traj.Sensor_Info parseFrom(byte[] data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static com.openpositioning.PositionMe.Traj.Sensor_Info parseFrom(
+        byte[] data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static com.openpositioning.PositionMe.Traj.Sensor_Info parseFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input);
+    }
+    public static com.openpositioning.PositionMe.Traj.Sensor_Info parseFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input, extensionRegistry);
+    }
+    public static com.openpositioning.PositionMe.Traj.Sensor_Info parseDelimitedFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseDelimitedWithIOException(PARSER, input);
+    }
+    public static com.openpositioning.PositionMe.Traj.Sensor_Info parseDelimitedFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
+    }
+    public static com.openpositioning.PositionMe.Traj.Sensor_Info parseFrom(
+        com.google.protobuf.CodedInputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input);
+    }
+    public static com.openpositioning.PositionMe.Traj.Sensor_Info parseFrom(
+        com.google.protobuf.CodedInputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input, extensionRegistry);
+    }
+
+    public Builder newBuilderForType() { return newBuilder(); }
+    public static Builder newBuilder() {
+      return DEFAULT_INSTANCE.toBuilder();
+    }
+    public static Builder newBuilder(com.openpositioning.PositionMe.Traj.Sensor_Info prototype) {
+      return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
+    }
+    public Builder toBuilder() {
+      return this == DEFAULT_INSTANCE
+          ? new Builder() : new Builder().mergeFrom(this);
+    }
+
+    @java.lang.Override
+    protected Builder newBuilderForType(
+        com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+      Builder builder = new Builder(parent);
+      return builder;
+    }
+    /**
+     * Protobuf type {@code Sensor_Info}
+     */
+    public static final class Builder extends
+        com.google.protobuf.GeneratedMessageV3.Builder<Builder> implements
+        // @@protoc_insertion_point(builder_implements:Sensor_Info)
+        com.openpositioning.PositionMe.Traj.Sensor_InfoOrBuilder {
+      public static final com.google.protobuf.Descriptors.Descriptor
+          getDescriptor() {
+        return com.openpositioning.PositionMe.Traj.internal_static_Sensor_Info_descriptor;
+      }
+
+      protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+          internalGetFieldAccessorTable() {
+        return com.openpositioning.PositionMe.Traj.internal_static_Sensor_Info_fieldAccessorTable
+            .ensureFieldAccessorsInitialized(
+                com.openpositioning.PositionMe.Traj.Sensor_Info.class, com.openpositioning.PositionMe.Traj.Sensor_Info.Builder.class);
+      }
+
+      // Construct using com.openpositioning.PositionMe.Traj.Sensor_Info.newBuilder()
+      private Builder() {
+        maybeForceBuilderInitialization();
+      }
+
+      private Builder(
+          com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+        super(parent);
+        maybeForceBuilderInitialization();
+      }
+      private void maybeForceBuilderInitialization() {
+        if (com.google.protobuf.GeneratedMessageV3
+                .alwaysUseFieldBuilders) {
+        }
+      }
+      public Builder clear() {
+        super.clear();
+        name_ = "";
+
+        vendor_ = "";
+
+        resolution_ = 0F;
+
+        power_ = 0F;
+
+        version_ = 0;
+
+        type_ = 0;
+
+        return this;
+      }
+
+      public com.google.protobuf.Descriptors.Descriptor
+          getDescriptorForType() {
+        return com.openpositioning.PositionMe.Traj.internal_static_Sensor_Info_descriptor;
+      }
+
+      public com.openpositioning.PositionMe.Traj.Sensor_Info getDefaultInstanceForType() {
+        return com.openpositioning.PositionMe.Traj.Sensor_Info.getDefaultInstance();
+      }
+
+      public com.openpositioning.PositionMe.Traj.Sensor_Info build() {
+        com.openpositioning.PositionMe.Traj.Sensor_Info result = buildPartial();
+        if (!result.isInitialized()) {
+          throw newUninitializedMessageException(result);
+        }
+        return result;
+      }
+
+      public com.openpositioning.PositionMe.Traj.Sensor_Info buildPartial() {
+        com.openpositioning.PositionMe.Traj.Sensor_Info result = new com.openpositioning.PositionMe.Traj.Sensor_Info(this);
+        result.name_ = name_;
+        result.vendor_ = vendor_;
+        result.resolution_ = resolution_;
+        result.power_ = power_;
+        result.version_ = version_;
+        result.type_ = type_;
+        onBuilt();
+        return result;
+      }
+
+      public Builder clone() {
+        return (Builder) super.clone();
+      }
+      public Builder setField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          Object value) {
+        return (Builder) super.setField(field, value);
+      }
+      public Builder clearField(
+          com.google.protobuf.Descriptors.FieldDescriptor field) {
+        return (Builder) super.clearField(field);
+      }
+      public Builder clearOneof(
+          com.google.protobuf.Descriptors.OneofDescriptor oneof) {
+        return (Builder) super.clearOneof(oneof);
+      }
+      public Builder setRepeatedField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          int index, Object value) {
+        return (Builder) super.setRepeatedField(field, index, value);
+      }
+      public Builder addRepeatedField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          Object value) {
+        return (Builder) super.addRepeatedField(field, value);
+      }
+      public Builder mergeFrom(com.google.protobuf.Message other) {
+        if (other instanceof com.openpositioning.PositionMe.Traj.Sensor_Info) {
+          return mergeFrom((com.openpositioning.PositionMe.Traj.Sensor_Info)other);
+        } else {
+          super.mergeFrom(other);
+          return this;
+        }
+      }
+
+      public Builder mergeFrom(com.openpositioning.PositionMe.Traj.Sensor_Info other) {
+        if (other == com.openpositioning.PositionMe.Traj.Sensor_Info.getDefaultInstance()) return this;
+        if (!other.getName().isEmpty()) {
+          name_ = other.name_;
+          onChanged();
+        }
+        if (!other.getVendor().isEmpty()) {
+          vendor_ = other.vendor_;
+          onChanged();
+        }
+        if (other.getResolution() != 0F) {
+          setResolution(other.getResolution());
+        }
+        if (other.getPower() != 0F) {
+          setPower(other.getPower());
+        }
+        if (other.getVersion() != 0) {
+          setVersion(other.getVersion());
+        }
+        if (other.getType() != 0) {
+          setType(other.getType());
+        }
+        onChanged();
+        return this;
+      }
+
+      public final boolean isInitialized() {
+        return true;
+      }
+
+      public Builder mergeFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws java.io.IOException {
+        com.openpositioning.PositionMe.Traj.Sensor_Info parsedMessage = null;
+        try {
+          parsedMessage = PARSER.parsePartialFrom(input, extensionRegistry);
+        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+          parsedMessage = (com.openpositioning.PositionMe.Traj.Sensor_Info) e.getUnfinishedMessage();
+          throw e.unwrapIOException();
+        } finally {
+          if (parsedMessage != null) {
+            mergeFrom(parsedMessage);
+          }
+        }
+        return this;
+      }
+
+      private java.lang.Object name_ = "";
+      /**
+       * <code>optional string name = 1;</code>
+       */
+      public java.lang.String getName() {
+        java.lang.Object ref = name_;
+        if (!(ref instanceof java.lang.String)) {
+          com.google.protobuf.ByteString bs =
+              (com.google.protobuf.ByteString) ref;
+          java.lang.String s = bs.toStringUtf8();
+          name_ = s;
+          return s;
+        } else {
+          return (java.lang.String) ref;
+        }
+      }
+      /**
+       * <code>optional string name = 1;</code>
+       */
+      public com.google.protobuf.ByteString
+          getNameBytes() {
+        java.lang.Object ref = name_;
+        if (ref instanceof String) {
+          com.google.protobuf.ByteString b = 
+              com.google.protobuf.ByteString.copyFromUtf8(
+                  (java.lang.String) ref);
+          name_ = b;
+          return b;
+        } else {
+          return (com.google.protobuf.ByteString) ref;
+        }
+      }
+      /**
+       * <code>optional string name = 1;</code>
+       */
+      public Builder setName(
+          java.lang.String value) {
+        if (value == null) {
+    throw new NullPointerException();
+  }
+  
+        name_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * <code>optional string name = 1;</code>
+       */
+      public Builder clearName() {
+        
+        name_ = getDefaultInstance().getName();
+        onChanged();
+        return this;
+      }
+      /**
+       * <code>optional string name = 1;</code>
+       */
+      public Builder setNameBytes(
+          com.google.protobuf.ByteString value) {
+        if (value == null) {
+    throw new NullPointerException();
+  }
+  checkByteStringIsUtf8(value);
+        
+        name_ = value;
+        onChanged();
+        return this;
+      }
+
+      private java.lang.Object vendor_ = "";
+      /**
+       * <code>optional string vendor = 2;</code>
+       */
+      public java.lang.String getVendor() {
+        java.lang.Object ref = vendor_;
+        if (!(ref instanceof java.lang.String)) {
+          com.google.protobuf.ByteString bs =
+              (com.google.protobuf.ByteString) ref;
+          java.lang.String s = bs.toStringUtf8();
+          vendor_ = s;
+          return s;
+        } else {
+          return (java.lang.String) ref;
+        }
+      }
+      /**
+       * <code>optional string vendor = 2;</code>
+       */
+      public com.google.protobuf.ByteString
+          getVendorBytes() {
+        java.lang.Object ref = vendor_;
+        if (ref instanceof String) {
+          com.google.protobuf.ByteString b = 
+              com.google.protobuf.ByteString.copyFromUtf8(
+                  (java.lang.String) ref);
+          vendor_ = b;
+          return b;
+        } else {
+          return (com.google.protobuf.ByteString) ref;
+        }
+      }
+      /**
+       * <code>optional string vendor = 2;</code>
+       */
+      public Builder setVendor(
+          java.lang.String value) {
+        if (value == null) {
+    throw new NullPointerException();
+  }
+  
+        vendor_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * <code>optional string vendor = 2;</code>
+       */
+      public Builder clearVendor() {
+        
+        vendor_ = getDefaultInstance().getVendor();
+        onChanged();
+        return this;
+      }
+      /**
+       * <code>optional string vendor = 2;</code>
+       */
+      public Builder setVendorBytes(
+          com.google.protobuf.ByteString value) {
+        if (value == null) {
+    throw new NullPointerException();
+  }
+  checkByteStringIsUtf8(value);
+        
+        vendor_ = value;
+        onChanged();
+        return this;
+      }
+
+      private float resolution_ ;
+      /**
+       * <code>optional float resolution = 3;</code>
+       */
+      public float getResolution() {
+        return resolution_;
+      }
+      /**
+       * <code>optional float resolution = 3;</code>
+       */
+      public Builder setResolution(float value) {
+        
+        resolution_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * <code>optional float resolution = 3;</code>
+       */
+      public Builder clearResolution() {
+        
+        resolution_ = 0F;
+        onChanged();
+        return this;
+      }
+
+      private float power_ ;
+      /**
+       * <code>optional float power = 4;</code>
+       */
+      public float getPower() {
+        return power_;
+      }
+      /**
+       * <code>optional float power = 4;</code>
+       */
+      public Builder setPower(float value) {
+        
+        power_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * <code>optional float power = 4;</code>
+       */
+      public Builder clearPower() {
+        
+        power_ = 0F;
+        onChanged();
+        return this;
+      }
+
+      private int version_ ;
+      /**
+       * <code>optional int32 version = 5;</code>
+       */
+      public int getVersion() {
+        return version_;
+      }
+      /**
+       * <code>optional int32 version = 5;</code>
+       */
+      public Builder setVersion(int value) {
+        
+        version_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * <code>optional int32 version = 5;</code>
+       */
+      public Builder clearVersion() {
+        
+        version_ = 0;
+        onChanged();
+        return this;
+      }
+
+      private int type_ ;
+      /**
+       * <code>optional int32 type = 6;</code>
+       */
+      public int getType() {
+        return type_;
+      }
+      /**
+       * <code>optional int32 type = 6;</code>
+       */
+      public Builder setType(int value) {
+        
+        type_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * <code>optional int32 type = 6;</code>
+       */
+      public Builder clearType() {
+        
+        type_ = 0;
+        onChanged();
+        return this;
+      }
+      public final Builder setUnknownFields(
+          final com.google.protobuf.UnknownFieldSet unknownFields) {
+        return this;
+      }
+
+      public final Builder mergeUnknownFields(
+          final com.google.protobuf.UnknownFieldSet unknownFields) {
+        return this;
+      }
+
+
+      // @@protoc_insertion_point(builder_scope:Sensor_Info)
+    }
+
+    // @@protoc_insertion_point(class_scope:Sensor_Info)
+    private static final com.openpositioning.PositionMe.Traj.Sensor_Info DEFAULT_INSTANCE;
+    static {
+      DEFAULT_INSTANCE = new com.openpositioning.PositionMe.Traj.Sensor_Info();
+    }
+
+    public static com.openpositioning.PositionMe.Traj.Sensor_Info getDefaultInstance() {
+      return DEFAULT_INSTANCE;
+    }
+
+    private static final com.google.protobuf.Parser<Sensor_Info>
+        PARSER = new com.google.protobuf.AbstractParser<Sensor_Info>() {
+      public Sensor_Info parsePartialFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+          return new Sensor_Info(input, extensionRegistry);
+      }
+    };
+
+    public static com.google.protobuf.Parser<Sensor_Info> parser() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public com.google.protobuf.Parser<Sensor_Info> getParserForType() {
+      return PARSER;
+    }
+
+    public com.openpositioning.PositionMe.Traj.Sensor_Info getDefaultInstanceForType() {
+      return DEFAULT_INSTANCE;
+    }
+
+  }
+
+  public interface Initial_PosOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:Initial_Pos)
+      com.google.protobuf.MessageOrBuilder {
+
+    /**
+     * <code>optional float initial_latitude = 1;</code>
+     */
+    float getInitialLatitude();
+
+    /**
+     * <code>optional float initial_longitude = 2;</code>
+     */
+    float getInitialLongitude();
+  }
+  /**
+   * Protobuf type {@code Initial_Pos}
+   */
+  public  static final class Initial_Pos extends
+      com.google.protobuf.GeneratedMessageV3 implements
+      // @@protoc_insertion_point(message_implements:Initial_Pos)
+      Initial_PosOrBuilder {
+    // Use Initial_Pos.newBuilder() to construct.
+    private Initial_Pos(com.google.protobuf.GeneratedMessageV3.Builder<?> builder) {
+      super(builder);
+    }
+    private Initial_Pos() {
+      initialLatitude_ = 0F;
+      initialLongitude_ = 0F;
+    }
+
+    @java.lang.Override
+    public final com.google.protobuf.UnknownFieldSet
+    getUnknownFields() {
+      return com.google.protobuf.UnknownFieldSet.getDefaultInstance();
+    }
+    private Initial_Pos(
+        com.google.protobuf.CodedInputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      this();
+      int mutable_bitField0_ = 0;
+      try {
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+        while (!done) {
+          int tag = input.readTag();
+          switch (tag) {
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+              done = true;
+              break;
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+              if (!input.skipField(tag)) {
+                done = true;
+              }
+              break;
+            }
+            case 13: {
+
+              initialLatitude_ = input.readFloat();
+              break;
+            }
+            case 21: {
+
+              initialLongitude_ = input.readFloat();
+              break;
+            }
+          }
+        }
+      } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+        throw e.setUnfinishedMessage(this);
+      } catch (java.io.IOException e) {
+        throw new com.google.protobuf.InvalidProtocolBufferException(
+            e).setUnfinishedMessage(this);
+      } finally {
+        makeExtensionsImmutable();
+      }
+    }
+    public static final com.google.protobuf.Descriptors.Descriptor
+        getDescriptor() {
+      return com.openpositioning.PositionMe.Traj.internal_static_Initial_Pos_descriptor;
+    }
+
+    protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+        internalGetFieldAccessorTable() {
+      return com.openpositioning.PositionMe.Traj.internal_static_Initial_Pos_fieldAccessorTable
+          .ensureFieldAccessorsInitialized(
+              com.openpositioning.PositionMe.Traj.Initial_Pos.class, com.openpositioning.PositionMe.Traj.Initial_Pos.Builder.class);
+    }
+
+    public static final int INITIAL_LATITUDE_FIELD_NUMBER = 1;
+    private float initialLatitude_;
+    /**
+     * <code>optional float initial_latitude = 1;</code>
+     */
+    public float getInitialLatitude() {
+      return initialLatitude_;
+    }
+
+    public static final int INITIAL_LONGITUDE_FIELD_NUMBER = 2;
+    private float initialLongitude_;
+    /**
+     * <code>optional float initial_longitude = 2;</code>
+     */
+    public float getInitialLongitude() {
+      return initialLongitude_;
+    }
+
+    private byte memoizedIsInitialized = -1;
+    public final boolean isInitialized() {
+      byte isInitialized = memoizedIsInitialized;
+      if (isInitialized == 1) return true;
+      if (isInitialized == 0) return false;
+
+      memoizedIsInitialized = 1;
+      return true;
+    }
+
+    public void writeTo(com.google.protobuf.CodedOutputStream output)
+                        throws java.io.IOException {
+      if (initialLatitude_ != 0F) {
+        output.writeFloat(1, initialLatitude_);
+      }
+      if (initialLongitude_ != 0F) {
+        output.writeFloat(2, initialLongitude_);
+      }
+    }
+
+    public int getSerializedSize() {
+      int size = memoizedSize;
+      if (size != -1) return size;
+
+      size = 0;
+      if (initialLatitude_ != 0F) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeFloatSize(1, initialLatitude_);
+      }
+      if (initialLongitude_ != 0F) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeFloatSize(2, initialLongitude_);
+      }
+      memoizedSize = size;
+      return size;
+    }
+
+    private static final long serialVersionUID = 0L;
+    @java.lang.Override
+    public boolean equals(final java.lang.Object obj) {
+      if (obj == this) {
+       return true;
+      }
+      if (!(obj instanceof com.openpositioning.PositionMe.Traj.Initial_Pos)) {
+        return super.equals(obj);
+      }
+      com.openpositioning.PositionMe.Traj.Initial_Pos other = (com.openpositioning.PositionMe.Traj.Initial_Pos) obj;
+
+      boolean result = true;
+      result = result && (
+          java.lang.Float.floatToIntBits(getInitialLatitude())
+          == java.lang.Float.floatToIntBits(
+              other.getInitialLatitude()));
+      result = result && (
+          java.lang.Float.floatToIntBits(getInitialLongitude())
+          == java.lang.Float.floatToIntBits(
+              other.getInitialLongitude()));
+      return result;
+    }
+
+    @java.lang.Override
+    public int hashCode() {
+      if (memoizedHashCode != 0) {
+        return memoizedHashCode;
+      }
+      int hash = 41;
+      hash = (19 * hash) + getDescriptorForType().hashCode();
+      hash = (37 * hash) + INITIAL_LATITUDE_FIELD_NUMBER;
+      hash = (53 * hash) + java.lang.Float.floatToIntBits(
+          getInitialLatitude());
+      hash = (37 * hash) + INITIAL_LONGITUDE_FIELD_NUMBER;
+      hash = (53 * hash) + java.lang.Float.floatToIntBits(
+          getInitialLongitude());
+      hash = (29 * hash) + unknownFields.hashCode();
+      memoizedHashCode = hash;
+      return hash;
+    }
+
+    public static com.openpositioning.PositionMe.Traj.Initial_Pos parseFrom(
+        com.google.protobuf.ByteString data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static com.openpositioning.PositionMe.Traj.Initial_Pos parseFrom(
+        com.google.protobuf.ByteString data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static com.openpositioning.PositionMe.Traj.Initial_Pos parseFrom(byte[] data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static com.openpositioning.PositionMe.Traj.Initial_Pos parseFrom(
+        byte[] data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static com.openpositioning.PositionMe.Traj.Initial_Pos parseFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input);
+    }
+    public static com.openpositioning.PositionMe.Traj.Initial_Pos parseFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input, extensionRegistry);
+    }
+    public static com.openpositioning.PositionMe.Traj.Initial_Pos parseDelimitedFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseDelimitedWithIOException(PARSER, input);
+    }
+    public static com.openpositioning.PositionMe.Traj.Initial_Pos parseDelimitedFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
+    }
+    public static com.openpositioning.PositionMe.Traj.Initial_Pos parseFrom(
+        com.google.protobuf.CodedInputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input);
+    }
+    public static com.openpositioning.PositionMe.Traj.Initial_Pos parseFrom(
+        com.google.protobuf.CodedInputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input, extensionRegistry);
+    }
+
+    public Builder newBuilderForType() { return newBuilder(); }
+    public static Builder newBuilder() {
+      return DEFAULT_INSTANCE.toBuilder();
+    }
+    public static Builder newBuilder(com.openpositioning.PositionMe.Traj.Initial_Pos prototype) {
+      return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
+    }
+    public Builder toBuilder() {
+      return this == DEFAULT_INSTANCE
+          ? new Builder() : new Builder().mergeFrom(this);
+    }
+
+    @java.lang.Override
+    protected Builder newBuilderForType(
+        com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+      Builder builder = new Builder(parent);
+      return builder;
+    }
+    /**
+     * Protobuf type {@code Initial_Pos}
+     */
+    public static final class Builder extends
+        com.google.protobuf.GeneratedMessageV3.Builder<Builder> implements
+        // @@protoc_insertion_point(builder_implements:Initial_Pos)
+        com.openpositioning.PositionMe.Traj.Initial_PosOrBuilder {
+      public static final com.google.protobuf.Descriptors.Descriptor
+          getDescriptor() {
+        return com.openpositioning.PositionMe.Traj.internal_static_Initial_Pos_descriptor;
+      }
+
+      protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+          internalGetFieldAccessorTable() {
+        return com.openpositioning.PositionMe.Traj.internal_static_Initial_Pos_fieldAccessorTable
+            .ensureFieldAccessorsInitialized(
+                com.openpositioning.PositionMe.Traj.Initial_Pos.class, com.openpositioning.PositionMe.Traj.Initial_Pos.Builder.class);
+      }
+
+      // Construct using com.openpositioning.PositionMe.Traj.Initial_Pos.newBuilder()
+      private Builder() {
+        maybeForceBuilderInitialization();
+      }
+
+      private Builder(
+          com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+        super(parent);
+        maybeForceBuilderInitialization();
+      }
+      private void maybeForceBuilderInitialization() {
+        if (com.google.protobuf.GeneratedMessageV3
+                .alwaysUseFieldBuilders) {
+        }
+      }
+      public Builder clear() {
+        super.clear();
+        initialLatitude_ = 0F;
+
+        initialLongitude_ = 0F;
+
+        return this;
+      }
+
+      public com.google.protobuf.Descriptors.Descriptor
+          getDescriptorForType() {
+        return com.openpositioning.PositionMe.Traj.internal_static_Initial_Pos_descriptor;
+      }
+
+      public com.openpositioning.PositionMe.Traj.Initial_Pos getDefaultInstanceForType() {
+        return com.openpositioning.PositionMe.Traj.Initial_Pos.getDefaultInstance();
+      }
+
+      public com.openpositioning.PositionMe.Traj.Initial_Pos build() {
+        com.openpositioning.PositionMe.Traj.Initial_Pos result = buildPartial();
+        if (!result.isInitialized()) {
+          throw newUninitializedMessageException(result);
+        }
+        return result;
+      }
+
+      public com.openpositioning.PositionMe.Traj.Initial_Pos buildPartial() {
+        com.openpositioning.PositionMe.Traj.Initial_Pos result = new com.openpositioning.PositionMe.Traj.Initial_Pos(this);
+        result.initialLatitude_ = initialLatitude_;
+        result.initialLongitude_ = initialLongitude_;
+        onBuilt();
+        return result;
+      }
+
+      public Builder clone() {
+        return (Builder) super.clone();
+      }
+      public Builder setField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          Object value) {
+        return (Builder) super.setField(field, value);
+      }
+      public Builder clearField(
+          com.google.protobuf.Descriptors.FieldDescriptor field) {
+        return (Builder) super.clearField(field);
+      }
+      public Builder clearOneof(
+          com.google.protobuf.Descriptors.OneofDescriptor oneof) {
+        return (Builder) super.clearOneof(oneof);
+      }
+      public Builder setRepeatedField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          int index, Object value) {
+        return (Builder) super.setRepeatedField(field, index, value);
+      }
+      public Builder addRepeatedField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          Object value) {
+        return (Builder) super.addRepeatedField(field, value);
+      }
+      public Builder mergeFrom(com.google.protobuf.Message other) {
+        if (other instanceof com.openpositioning.PositionMe.Traj.Initial_Pos) {
+          return mergeFrom((com.openpositioning.PositionMe.Traj.Initial_Pos)other);
+        } else {
+          super.mergeFrom(other);
+          return this;
+        }
+      }
+
+      public Builder mergeFrom(com.openpositioning.PositionMe.Traj.Initial_Pos other) {
+        if (other == com.openpositioning.PositionMe.Traj.Initial_Pos.getDefaultInstance()) return this;
+        if (other.getInitialLatitude() != 0F) {
+          setInitialLatitude(other.getInitialLatitude());
+        }
+        if (other.getInitialLongitude() != 0F) {
+          setInitialLongitude(other.getInitialLongitude());
+        }
+        onChanged();
+        return this;
+      }
+
+      public final boolean isInitialized() {
+        return true;
+      }
+
+      public Builder mergeFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws java.io.IOException {
+        com.openpositioning.PositionMe.Traj.Initial_Pos parsedMessage = null;
+        try {
+          parsedMessage = PARSER.parsePartialFrom(input, extensionRegistry);
+        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+          parsedMessage = (com.openpositioning.PositionMe.Traj.Initial_Pos) e.getUnfinishedMessage();
+          throw e.unwrapIOException();
+        } finally {
+          if (parsedMessage != null) {
+            mergeFrom(parsedMessage);
+          }
+        }
+        return this;
+      }
+
+      private float initialLatitude_ ;
+      /**
+       * <code>optional float initial_latitude = 1;</code>
+       */
+      public float getInitialLatitude() {
+        return initialLatitude_;
+      }
+      /**
+       * <code>optional float initial_latitude = 1;</code>
+       */
+      public Builder setInitialLatitude(float value) {
+        
+        initialLatitude_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * <code>optional float initial_latitude = 1;</code>
+       */
+      public Builder clearInitialLatitude() {
+        
+        initialLatitude_ = 0F;
+        onChanged();
+        return this;
+      }
+
+      private float initialLongitude_ ;
+      /**
+       * <code>optional float initial_longitude = 2;</code>
+       */
+      public float getInitialLongitude() {
+        return initialLongitude_;
+      }
+      /**
+       * <code>optional float initial_longitude = 2;</code>
+       */
+      public Builder setInitialLongitude(float value) {
+        
+        initialLongitude_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * <code>optional float initial_longitude = 2;</code>
        */
-      public Builder clearFrequency() {
+      public Builder clearInitialLongitude() {
         
-        frequency_ = 0L;
+        initialLongitude_ = 0F;
         onChanged();
         return this;
       }
@@ -11537,114 +14316,97 @@ public final Builder mergeUnknownFields(
       }
 
 
-      // @@protoc_insertion_point(builder_scope:AP_Data)
+      // @@protoc_insertion_point(builder_scope:Initial_Pos)
     }
 
-    // @@protoc_insertion_point(class_scope:AP_Data)
-    private static final AP_Data DEFAULT_INSTANCE;
+    // @@protoc_insertion_point(class_scope:Initial_Pos)
+    private static final com.openpositioning.PositionMe.Traj.Initial_Pos DEFAULT_INSTANCE;
     static {
-      DEFAULT_INSTANCE = new AP_Data();
+      DEFAULT_INSTANCE = new com.openpositioning.PositionMe.Traj.Initial_Pos();
     }
 
-    public static AP_Data getDefaultInstance() {
+    public static com.openpositioning.PositionMe.Traj.Initial_Pos getDefaultInstance() {
       return DEFAULT_INSTANCE;
     }
 
-    private static final com.google.protobuf.Parser<AP_Data>
-        PARSER = new com.google.protobuf.AbstractParser<AP_Data>() {
-      public AP_Data parsePartialFrom(
+    private static final com.google.protobuf.Parser<Initial_Pos>
+        PARSER = new com.google.protobuf.AbstractParser<Initial_Pos>() {
+      public Initial_Pos parsePartialFrom(
           com.google.protobuf.CodedInputStream input,
           com.google.protobuf.ExtensionRegistryLite extensionRegistry)
           throws com.google.protobuf.InvalidProtocolBufferException {
-          return new AP_Data(input, extensionRegistry);
+          return new Initial_Pos(input, extensionRegistry);
       }
     };
 
-    public static com.google.protobuf.Parser<AP_Data> parser() {
+    public static com.google.protobuf.Parser<Initial_Pos> parser() {
       return PARSER;
     }
 
-    @Override
-    public com.google.protobuf.Parser<AP_Data> getParserForType() {
+    @java.lang.Override
+    public com.google.protobuf.Parser<Initial_Pos> getParserForType() {
       return PARSER;
     }
 
-    public AP_Data getDefaultInstanceForType() {
+    public com.openpositioning.PositionMe.Traj.Initial_Pos getDefaultInstanceForType() {
       return DEFAULT_INSTANCE;
     }
 
   }
 
-  public interface Sensor_InfoOrBuilder extends
-      // @@protoc_insertion_point(interface_extends:Sensor_Info)
+  public interface Fused_PosOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:Fused_Pos)
       com.google.protobuf.MessageOrBuilder {
 
     /**
-     * <code>optional string name = 1;</code>
-     */
-    String getName();
-    /**
-     * <code>optional string name = 1;</code>
-     */
-    com.google.protobuf.ByteString
-        getNameBytes();
-
-    /**
-     * <code>optional string vendor = 2;</code>
-     */
-    String getVendor();
-    /**
-     * <code>optional string vendor = 2;</code>
+     * <code>optional int64 relative_timestamp = 1;</code>
      */
-    com.google.protobuf.ByteString
-        getVendorBytes();
+    long getRelativeTimestamp();
 
     /**
-     * <code>optional float resolution = 3;</code>
+     * <code>optional float latitude = 2;</code>
      */
-    float getResolution();
+    float getLatitude();
 
     /**
-     * <code>optional float power = 4;</code>
+     * <code>optional float longitude = 3;</code>
      */
-    float getPower();
+    float getLongitude();
 
     /**
-     * <code>optional int32 version = 5;</code>
+     * <code>optional string algorithm = 4;</code>
      */
-    int getVersion();
-
+    java.lang.String getAlgorithm();
     /**
-     * <code>optional int32 type = 6;</code>
+     * <code>optional string algorithm = 4;</code>
      */
-    int getType();
+    com.google.protobuf.ByteString
+        getAlgorithmBytes();
   }
   /**
-   * Protobuf type {@code Sensor_Info}
+   * Protobuf type {@code Fused_Pos}
    */
-  public  static final class Sensor_Info extends
+  public  static final class Fused_Pos extends
       com.google.protobuf.GeneratedMessageV3 implements
-      // @@protoc_insertion_point(message_implements:Sensor_Info)
-      Sensor_InfoOrBuilder {
-    // Use Sensor_Info.newBuilder() to construct.
-    private Sensor_Info(com.google.protobuf.GeneratedMessageV3.Builder<?> builder) {
+      // @@protoc_insertion_point(message_implements:Fused_Pos)
+      Fused_PosOrBuilder {
+    // Use Fused_Pos.newBuilder() to construct.
+    private Fused_Pos(com.google.protobuf.GeneratedMessageV3.Builder<?> builder) {
       super(builder);
     }
-    private Sensor_Info() {
-      name_ = "";
-      vendor_ = "";
-      resolution_ = 0F;
-      power_ = 0F;
-      version_ = 0;
-      type_ = 0;
+    private Fused_Pos() {
+      relativeTimestamp_ = 0L;
+      latitude_ = 0F;
+      longitude_ = 0F;
+      algorithm_ = "";
     }
 
-    @Override
+    @java.lang.Override
     public final com.google.protobuf.UnknownFieldSet
     getUnknownFields() {
       return com.google.protobuf.UnknownFieldSet.getDefaultInstance();
     }
-    private Sensor_Info(
+    private Fused_Pos(
         com.google.protobuf.CodedInputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
@@ -11664,36 +14426,25 @@ private Sensor_Info(
               }
               break;
             }
-            case 10: {
-              String s = input.readStringRequireUtf8();
+            case 8: {
 
-              name_ = s;
+              relativeTimestamp_ = input.readInt64();
               break;
             }
-            case 18: {
-              String s = input.readStringRequireUtf8();
+            case 21: {
 
-              vendor_ = s;
+              latitude_ = input.readFloat();
               break;
             }
             case 29: {
 
-              resolution_ = input.readFloat();
-              break;
-            }
-            case 37: {
-
-              power_ = input.readFloat();
-              break;
-            }
-            case 40: {
-
-              version_ = input.readInt32();
+              longitude_ = input.readFloat();
               break;
             }
-            case 48: {
+            case 34: {
+              java.lang.String s = input.readStringRequireUtf8();
 
-              type_ = input.readInt32();
+              algorithm_ = s;
               break;
             }
           }
@@ -11709,120 +14460,77 @@ private Sensor_Info(
     }
     public static final com.google.protobuf.Descriptors.Descriptor
         getDescriptor() {
-      return Traj.internal_static_Sensor_Info_descriptor;
+      return com.openpositioning.PositionMe.Traj.internal_static_Fused_Pos_descriptor;
     }
 
     protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
         internalGetFieldAccessorTable() {
-      return Traj.internal_static_Sensor_Info_fieldAccessorTable
+      return com.openpositioning.PositionMe.Traj.internal_static_Fused_Pos_fieldAccessorTable
           .ensureFieldAccessorsInitialized(
-              Sensor_Info.class, Builder.class);
+              com.openpositioning.PositionMe.Traj.Fused_Pos.class, com.openpositioning.PositionMe.Traj.Fused_Pos.Builder.class);
     }
 
-    public static final int NAME_FIELD_NUMBER = 1;
-    private volatile Object name_;
+    public static final int RELATIVE_TIMESTAMP_FIELD_NUMBER = 1;
+    private long relativeTimestamp_;
     /**
-     * <code>optional string name = 1;</code>
+     * <code>optional int64 relative_timestamp = 1;</code>
      */
-    public String getName() {
-      Object ref = name_;
-      if (ref instanceof String) {
-        return (String) ref;
-      } else {
-        com.google.protobuf.ByteString bs = 
-            (com.google.protobuf.ByteString) ref;
-        String s = bs.toStringUtf8();
-        name_ = s;
-        return s;
-      }
+    public long getRelativeTimestamp() {
+      return relativeTimestamp_;
     }
+
+    public static final int LATITUDE_FIELD_NUMBER = 2;
+    private float latitude_;
     /**
-     * <code>optional string name = 1;</code>
+     * <code>optional float latitude = 2;</code>
      */
-    public com.google.protobuf.ByteString
-        getNameBytes() {
-      Object ref = name_;
-      if (ref instanceof String) {
-        com.google.protobuf.ByteString b = 
-            com.google.protobuf.ByteString.copyFromUtf8(
-                (String) ref);
-        name_ = b;
-        return b;
-      } else {
-        return (com.google.protobuf.ByteString) ref;
-      }
+    public float getLatitude() {
+      return latitude_;
     }
 
-    public static final int VENDOR_FIELD_NUMBER = 2;
-    private volatile Object vendor_;
+    public static final int LONGITUDE_FIELD_NUMBER = 3;
+    private float longitude_;
     /**
-     * <code>optional string vendor = 2;</code>
+     * <code>optional float longitude = 3;</code>
+     */
+    public float getLongitude() {
+      return longitude_;
+    }
+
+    public static final int ALGORITHM_FIELD_NUMBER = 4;
+    private volatile java.lang.Object algorithm_;
+    /**
+     * <code>optional string algorithm = 4;</code>
      */
-    public String getVendor() {
-      Object ref = vendor_;
-      if (ref instanceof String) {
-        return (String) ref;
+    public java.lang.String getAlgorithm() {
+      java.lang.Object ref = algorithm_;
+      if (ref instanceof java.lang.String) {
+        return (java.lang.String) ref;
       } else {
         com.google.protobuf.ByteString bs = 
             (com.google.protobuf.ByteString) ref;
-        String s = bs.toStringUtf8();
-        vendor_ = s;
+        java.lang.String s = bs.toStringUtf8();
+        algorithm_ = s;
         return s;
       }
     }
     /**
-     * <code>optional string vendor = 2;</code>
+     * <code>optional string algorithm = 4;</code>
      */
     public com.google.protobuf.ByteString
-        getVendorBytes() {
-      Object ref = vendor_;
-      if (ref instanceof String) {
+        getAlgorithmBytes() {
+      java.lang.Object ref = algorithm_;
+      if (ref instanceof java.lang.String) {
         com.google.protobuf.ByteString b = 
             com.google.protobuf.ByteString.copyFromUtf8(
-                (String) ref);
-        vendor_ = b;
+                (java.lang.String) ref);
+        algorithm_ = b;
         return b;
       } else {
         return (com.google.protobuf.ByteString) ref;
       }
     }
 
-    public static final int RESOLUTION_FIELD_NUMBER = 3;
-    private float resolution_;
-    /**
-     * <code>optional float resolution = 3;</code>
-     */
-    public float getResolution() {
-      return resolution_;
-    }
-
-    public static final int POWER_FIELD_NUMBER = 4;
-    private float power_;
-    /**
-     * <code>optional float power = 4;</code>
-     */
-    public float getPower() {
-      return power_;
-    }
-
-    public static final int VERSION_FIELD_NUMBER = 5;
-    private int version_;
-    /**
-     * <code>optional int32 version = 5;</code>
-     */
-    public int getVersion() {
-      return version_;
-    }
-
-    public static final int TYPE_FIELD_NUMBER = 6;
-    private int type_;
-    /**
-     * <code>optional int32 type = 6;</code>
-     */
-    public int getType() {
-      return type_;
-    }
-
     private byte memoizedIsInitialized = -1;
     public final boolean isInitialized() {
       byte isInitialized = memoizedIsInitialized;
@@ -11835,23 +14543,17 @@ public final boolean isInitialized() {
 
     public void writeTo(com.google.protobuf.CodedOutputStream output)
                         throws java.io.IOException {
-      if (!getNameBytes().isEmpty()) {
-        com.google.protobuf.GeneratedMessageV3.writeString(output, 1, name_);
-      }
-      if (!getVendorBytes().isEmpty()) {
-        com.google.protobuf.GeneratedMessageV3.writeString(output, 2, vendor_);
-      }
-      if (resolution_ != 0F) {
-        output.writeFloat(3, resolution_);
+      if (relativeTimestamp_ != 0L) {
+        output.writeInt64(1, relativeTimestamp_);
       }
-      if (power_ != 0F) {
-        output.writeFloat(4, power_);
+      if (latitude_ != 0F) {
+        output.writeFloat(2, latitude_);
       }
-      if (version_ != 0) {
-        output.writeInt32(5, version_);
+      if (longitude_ != 0F) {
+        output.writeFloat(3, longitude_);
       }
-      if (type_ != 0) {
-        output.writeInt32(6, type_);
+      if (!getAlgorithmBytes().isEmpty()) {
+        com.google.protobuf.GeneratedMessageV3.writeString(output, 4, algorithm_);
       }
     }
 
@@ -11860,141 +14562,127 @@ public int getSerializedSize() {
       if (size != -1) return size;
 
       size = 0;
-      if (!getNameBytes().isEmpty()) {
-        size += com.google.protobuf.GeneratedMessageV3.computeStringSize(1, name_);
-      }
-      if (!getVendorBytes().isEmpty()) {
-        size += com.google.protobuf.GeneratedMessageV3.computeStringSize(2, vendor_);
-      }
-      if (resolution_ != 0F) {
+      if (relativeTimestamp_ != 0L) {
         size += com.google.protobuf.CodedOutputStream
-          .computeFloatSize(3, resolution_);
+          .computeInt64Size(1, relativeTimestamp_);
       }
-      if (power_ != 0F) {
+      if (latitude_ != 0F) {
         size += com.google.protobuf.CodedOutputStream
-          .computeFloatSize(4, power_);
+          .computeFloatSize(2, latitude_);
       }
-      if (version_ != 0) {
+      if (longitude_ != 0F) {
         size += com.google.protobuf.CodedOutputStream
-          .computeInt32Size(5, version_);
+          .computeFloatSize(3, longitude_);
       }
-      if (type_ != 0) {
-        size += com.google.protobuf.CodedOutputStream
-          .computeInt32Size(6, type_);
+      if (!getAlgorithmBytes().isEmpty()) {
+        size += com.google.protobuf.GeneratedMessageV3.computeStringSize(4, algorithm_);
       }
       memoizedSize = size;
       return size;
     }
 
     private static final long serialVersionUID = 0L;
-    @Override
-    public boolean equals(final Object obj) {
+    @java.lang.Override
+    public boolean equals(final java.lang.Object obj) {
       if (obj == this) {
        return true;
       }
-      if (!(obj instanceof Sensor_Info)) {
+      if (!(obj instanceof com.openpositioning.PositionMe.Traj.Fused_Pos)) {
         return super.equals(obj);
       }
-      Sensor_Info other = (Sensor_Info) obj;
+      com.openpositioning.PositionMe.Traj.Fused_Pos other = (com.openpositioning.PositionMe.Traj.Fused_Pos) obj;
 
       boolean result = true;
-      result = result && getName()
-          .equals(other.getName());
-      result = result && getVendor()
-          .equals(other.getVendor());
+      result = result && (getRelativeTimestamp()
+          == other.getRelativeTimestamp());
       result = result && (
-          Float.floatToIntBits(getResolution())
-          == Float.floatToIntBits(
-              other.getResolution()));
+          java.lang.Float.floatToIntBits(getLatitude())
+          == java.lang.Float.floatToIntBits(
+              other.getLatitude()));
       result = result && (
-          Float.floatToIntBits(getPower())
-          == Float.floatToIntBits(
-              other.getPower()));
-      result = result && (getVersion()
-          == other.getVersion());
-      result = result && (getType()
-          == other.getType());
+          java.lang.Float.floatToIntBits(getLongitude())
+          == java.lang.Float.floatToIntBits(
+              other.getLongitude()));
+      result = result && getAlgorithm()
+          .equals(other.getAlgorithm());
       return result;
     }
 
-    @Override
+    @java.lang.Override
     public int hashCode() {
       if (memoizedHashCode != 0) {
         return memoizedHashCode;
       }
       int hash = 41;
       hash = (19 * hash) + getDescriptorForType().hashCode();
-      hash = (37 * hash) + NAME_FIELD_NUMBER;
-      hash = (53 * hash) + getName().hashCode();
-      hash = (37 * hash) + VENDOR_FIELD_NUMBER;
-      hash = (53 * hash) + getVendor().hashCode();
-      hash = (37 * hash) + RESOLUTION_FIELD_NUMBER;
-      hash = (53 * hash) + Float.floatToIntBits(
-          getResolution());
-      hash = (37 * hash) + POWER_FIELD_NUMBER;
-      hash = (53 * hash) + Float.floatToIntBits(
-          getPower());
-      hash = (37 * hash) + VERSION_FIELD_NUMBER;
-      hash = (53 * hash) + getVersion();
-      hash = (37 * hash) + TYPE_FIELD_NUMBER;
-      hash = (53 * hash) + getType();
+      hash = (37 * hash) + RELATIVE_TIMESTAMP_FIELD_NUMBER;
+      hash = (53 * hash) + com.google.protobuf.Internal.hashLong(
+          getRelativeTimestamp());
+      hash = (37 * hash) + LATITUDE_FIELD_NUMBER;
+      hash = (53 * hash) + java.lang.Float.floatToIntBits(
+          getLatitude());
+      hash = (37 * hash) + LONGITUDE_FIELD_NUMBER;
+      hash = (53 * hash) + java.lang.Float.floatToIntBits(
+          getLongitude());
+      hash = (37 * hash) + ALGORITHM_FIELD_NUMBER;
+      hash = (53 * hash) + getAlgorithm().hashCode();
       hash = (29 * hash) + unknownFields.hashCode();
       memoizedHashCode = hash;
       return hash;
     }
 
-    public static Sensor_Info parseFrom(
+    public static com.openpositioning.PositionMe.Traj.Fused_Pos parseFrom(
         com.google.protobuf.ByteString data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static Sensor_Info parseFrom(
+    public static com.openpositioning.PositionMe.Traj.Fused_Pos parseFrom(
         com.google.protobuf.ByteString data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static Sensor_Info parseFrom(byte[] data)
+    public static com.openpositioning.PositionMe.Traj.Fused_Pos parseFrom(byte[] data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static Sensor_Info parseFrom(
+    public static com.openpositioning.PositionMe.Traj.Fused_Pos parseFrom(
         byte[] data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static Sensor_Info parseFrom(java.io.InputStream input)
+    public static com.openpositioning.PositionMe.Traj.Fused_Pos parseFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input);
     }
-    public static Sensor_Info parseFrom(
+    public static com.openpositioning.PositionMe.Traj.Fused_Pos parseFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input, extensionRegistry);
     }
-    public static Sensor_Info parseDelimitedFrom(java.io.InputStream input)
+    public static com.openpositioning.PositionMe.Traj.Fused_Pos parseDelimitedFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseDelimitedWithIOException(PARSER, input);
     }
-    public static Sensor_Info parseDelimitedFrom(
+    public static com.openpositioning.PositionMe.Traj.Fused_Pos parseDelimitedFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
     }
-    public static Sensor_Info parseFrom(
+    public static com.openpositioning.PositionMe.Traj.Fused_Pos parseFrom(
         com.google.protobuf.CodedInputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input);
     }
-    public static Sensor_Info parseFrom(
+    public static com.openpositioning.PositionMe.Traj.Fused_Pos parseFrom(
         com.google.protobuf.CodedInputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
@@ -12006,7 +14694,7 @@ public static Sensor_Info parseFrom(
     public static Builder newBuilder() {
       return DEFAULT_INSTANCE.toBuilder();
     }
-    public static Builder newBuilder(Sensor_Info prototype) {
+    public static Builder newBuilder(com.openpositioning.PositionMe.Traj.Fused_Pos prototype) {
       return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
     }
     public Builder toBuilder() {
@@ -12014,32 +14702,32 @@ public Builder toBuilder() {
           ? new Builder() : new Builder().mergeFrom(this);
     }
 
-    @Override
+    @java.lang.Override
     protected Builder newBuilderForType(
         com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
       Builder builder = new Builder(parent);
       return builder;
     }
     /**
-     * Protobuf type {@code Sensor_Info}
+     * Protobuf type {@code Fused_Pos}
      */
     public static final class Builder extends
         com.google.protobuf.GeneratedMessageV3.Builder<Builder> implements
-        // @@protoc_insertion_point(builder_implements:Sensor_Info)
-        Sensor_InfoOrBuilder {
+        // @@protoc_insertion_point(builder_implements:Fused_Pos)
+        com.openpositioning.PositionMe.Traj.Fused_PosOrBuilder {
       public static final com.google.protobuf.Descriptors.Descriptor
           getDescriptor() {
-        return Traj.internal_static_Sensor_Info_descriptor;
+        return com.openpositioning.PositionMe.Traj.internal_static_Fused_Pos_descriptor;
       }
 
       protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
           internalGetFieldAccessorTable() {
-        return Traj.internal_static_Sensor_Info_fieldAccessorTable
+        return com.openpositioning.PositionMe.Traj.internal_static_Fused_Pos_fieldAccessorTable
             .ensureFieldAccessorsInitialized(
-                Sensor_Info.class, Builder.class);
+                com.openpositioning.PositionMe.Traj.Fused_Pos.class, com.openpositioning.PositionMe.Traj.Fused_Pos.Builder.class);
       }
 
-      // Construct using Traj.Sensor_Info.newBuilder()
+      // Construct using com.openpositioning.PositionMe.Traj.Fused_Pos.newBuilder()
       private Builder() {
         maybeForceBuilderInitialization();
       }
@@ -12056,46 +14744,40 @@ private void maybeForceBuilderInitialization() {
       }
       public Builder clear() {
         super.clear();
-        name_ = "";
-
-        vendor_ = "";
-
-        resolution_ = 0F;
+        relativeTimestamp_ = 0L;
 
-        power_ = 0F;
+        latitude_ = 0F;
 
-        version_ = 0;
+        longitude_ = 0F;
 
-        type_ = 0;
+        algorithm_ = "";
 
         return this;
       }
 
       public com.google.protobuf.Descriptors.Descriptor
           getDescriptorForType() {
-        return Traj.internal_static_Sensor_Info_descriptor;
+        return com.openpositioning.PositionMe.Traj.internal_static_Fused_Pos_descriptor;
       }
 
-      public Sensor_Info getDefaultInstanceForType() {
-        return Sensor_Info.getDefaultInstance();
+      public com.openpositioning.PositionMe.Traj.Fused_Pos getDefaultInstanceForType() {
+        return com.openpositioning.PositionMe.Traj.Fused_Pos.getDefaultInstance();
       }
 
-      public Sensor_Info build() {
-        Sensor_Info result = buildPartial();
+      public com.openpositioning.PositionMe.Traj.Fused_Pos build() {
+        com.openpositioning.PositionMe.Traj.Fused_Pos result = buildPartial();
         if (!result.isInitialized()) {
           throw newUninitializedMessageException(result);
         }
         return result;
       }
 
-      public Sensor_Info buildPartial() {
-        Sensor_Info result = new Sensor_Info(this);
-        result.name_ = name_;
-        result.vendor_ = vendor_;
-        result.resolution_ = resolution_;
-        result.power_ = power_;
-        result.version_ = version_;
-        result.type_ = type_;
+      public com.openpositioning.PositionMe.Traj.Fused_Pos buildPartial() {
+        com.openpositioning.PositionMe.Traj.Fused_Pos result = new com.openpositioning.PositionMe.Traj.Fused_Pos(this);
+        result.relativeTimestamp_ = relativeTimestamp_;
+        result.latitude_ = latitude_;
+        result.longitude_ = longitude_;
+        result.algorithm_ = algorithm_;
         onBuilt();
         return result;
       }
@@ -12127,35 +14809,28 @@ public Builder addRepeatedField(
         return (Builder) super.addRepeatedField(field, value);
       }
       public Builder mergeFrom(com.google.protobuf.Message other) {
-        if (other instanceof Sensor_Info) {
-          return mergeFrom((Sensor_Info)other);
+        if (other instanceof com.openpositioning.PositionMe.Traj.Fused_Pos) {
+          return mergeFrom((com.openpositioning.PositionMe.Traj.Fused_Pos)other);
         } else {
           super.mergeFrom(other);
           return this;
         }
       }
 
-      public Builder mergeFrom(Sensor_Info other) {
-        if (other == Sensor_Info.getDefaultInstance()) return this;
-        if (!other.getName().isEmpty()) {
-          name_ = other.name_;
-          onChanged();
-        }
-        if (!other.getVendor().isEmpty()) {
-          vendor_ = other.vendor_;
-          onChanged();
-        }
-        if (other.getResolution() != 0F) {
-          setResolution(other.getResolution());
+      public Builder mergeFrom(com.openpositioning.PositionMe.Traj.Fused_Pos other) {
+        if (other == com.openpositioning.PositionMe.Traj.Fused_Pos.getDefaultInstance()) return this;
+        if (other.getRelativeTimestamp() != 0L) {
+          setRelativeTimestamp(other.getRelativeTimestamp());
         }
-        if (other.getPower() != 0F) {
-          setPower(other.getPower());
+        if (other.getLatitude() != 0F) {
+          setLatitude(other.getLatitude());
         }
-        if (other.getVersion() != 0) {
-          setVersion(other.getVersion());
+        if (other.getLongitude() != 0F) {
+          setLongitude(other.getLongitude());
         }
-        if (other.getType() != 0) {
-          setType(other.getType());
+        if (!other.getAlgorithm().isEmpty()) {
+          algorithm_ = other.algorithm_;
+          onChanged();
         }
         onChanged();
         return this;
@@ -12169,11 +14844,11 @@ public Builder mergeFrom(
           com.google.protobuf.CodedInputStream input,
           com.google.protobuf.ExtensionRegistryLite extensionRegistry)
           throws java.io.IOException {
-        Sensor_Info parsedMessage = null;
+        com.openpositioning.PositionMe.Traj.Fused_Pos parsedMessage = null;
         try {
           parsedMessage = PARSER.parsePartialFrom(input, extensionRegistry);
         } catch (com.google.protobuf.InvalidProtocolBufferException e) {
-          parsedMessage = (Sensor_Info) e.getUnfinishedMessage();
+          parsedMessage = (com.openpositioning.PositionMe.Traj.Fused_Pos) e.getUnfinishedMessage();
           throw e.unwrapIOException();
         } finally {
           if (parsedMessage != null) {
@@ -12183,244 +14858,149 @@ public Builder mergeFrom(
         return this;
       }
 
-      private Object name_ = "";
-      /**
-       * <code>optional string name = 1;</code>
-       */
-      public String getName() {
-        Object ref = name_;
-        if (!(ref instanceof String)) {
-          com.google.protobuf.ByteString bs =
-              (com.google.protobuf.ByteString) ref;
-          String s = bs.toStringUtf8();
-          name_ = s;
-          return s;
-        } else {
-          return (String) ref;
-        }
-      }
-      /**
-       * <code>optional string name = 1;</code>
-       */
-      public com.google.protobuf.ByteString
-          getNameBytes() {
-        Object ref = name_;
-        if (ref instanceof String) {
-          com.google.protobuf.ByteString b = 
-              com.google.protobuf.ByteString.copyFromUtf8(
-                  (String) ref);
-          name_ = b;
-          return b;
-        } else {
-          return (com.google.protobuf.ByteString) ref;
-        }
-      }
-      /**
-       * <code>optional string name = 1;</code>
-       */
-      public Builder setName(
-          String value) {
-        if (value == null) {
-    throw new NullPointerException();
-  }
-  
-        name_ = value;
-        onChanged();
-        return this;
-      }
-      /**
-       * <code>optional string name = 1;</code>
-       */
-      public Builder clearName() {
-        
-        name_ = getDefaultInstance().getName();
-        onChanged();
-        return this;
-      }
-      /**
-       * <code>optional string name = 1;</code>
-       */
-      public Builder setNameBytes(
-          com.google.protobuf.ByteString value) {
-        if (value == null) {
-    throw new NullPointerException();
-  }
-  checkByteStringIsUtf8(value);
-        
-        name_ = value;
-        onChanged();
-        return this;
-      }
-
-      private Object vendor_ = "";
-      /**
-       * <code>optional string vendor = 2;</code>
-       */
-      public String getVendor() {
-        Object ref = vendor_;
-        if (!(ref instanceof String)) {
-          com.google.protobuf.ByteString bs =
-              (com.google.protobuf.ByteString) ref;
-          String s = bs.toStringUtf8();
-          vendor_ = s;
-          return s;
-        } else {
-          return (String) ref;
-        }
-      }
-      /**
-       * <code>optional string vendor = 2;</code>
-       */
-      public com.google.protobuf.ByteString
-          getVendorBytes() {
-        Object ref = vendor_;
-        if (ref instanceof String) {
-          com.google.protobuf.ByteString b = 
-              com.google.protobuf.ByteString.copyFromUtf8(
-                  (String) ref);
-          vendor_ = b;
-          return b;
-        } else {
-          return (com.google.protobuf.ByteString) ref;
-        }
-      }
+      private long relativeTimestamp_ ;
       /**
-       * <code>optional string vendor = 2;</code>
+       * <code>optional int64 relative_timestamp = 1;</code>
        */
-      public Builder setVendor(
-          String value) {
-        if (value == null) {
-    throw new NullPointerException();
-  }
-  
-        vendor_ = value;
-        onChanged();
-        return this;
+      public long getRelativeTimestamp() {
+        return relativeTimestamp_;
       }
       /**
-       * <code>optional string vendor = 2;</code>
+       * <code>optional int64 relative_timestamp = 1;</code>
        */
-      public Builder clearVendor() {
+      public Builder setRelativeTimestamp(long value) {
         
-        vendor_ = getDefaultInstance().getVendor();
+        relativeTimestamp_ = value;
         onChanged();
         return this;
       }
       /**
-       * <code>optional string vendor = 2;</code>
+       * <code>optional int64 relative_timestamp = 1;</code>
        */
-      public Builder setVendorBytes(
-          com.google.protobuf.ByteString value) {
-        if (value == null) {
-    throw new NullPointerException();
-  }
-  checkByteStringIsUtf8(value);
+      public Builder clearRelativeTimestamp() {
         
-        vendor_ = value;
+        relativeTimestamp_ = 0L;
         onChanged();
         return this;
       }
 
-      private float resolution_ ;
+      private float latitude_ ;
       /**
-       * <code>optional float resolution = 3;</code>
+       * <code>optional float latitude = 2;</code>
        */
-      public float getResolution() {
-        return resolution_;
+      public float getLatitude() {
+        return latitude_;
       }
       /**
-       * <code>optional float resolution = 3;</code>
+       * <code>optional float latitude = 2;</code>
        */
-      public Builder setResolution(float value) {
+      public Builder setLatitude(float value) {
         
-        resolution_ = value;
+        latitude_ = value;
         onChanged();
         return this;
       }
       /**
-       * <code>optional float resolution = 3;</code>
+       * <code>optional float latitude = 2;</code>
        */
-      public Builder clearResolution() {
+      public Builder clearLatitude() {
         
-        resolution_ = 0F;
+        latitude_ = 0F;
         onChanged();
         return this;
       }
 
-      private float power_ ;
+      private float longitude_ ;
       /**
-       * <code>optional float power = 4;</code>
+       * <code>optional float longitude = 3;</code>
        */
-      public float getPower() {
-        return power_;
+      public float getLongitude() {
+        return longitude_;
       }
       /**
-       * <code>optional float power = 4;</code>
+       * <code>optional float longitude = 3;</code>
        */
-      public Builder setPower(float value) {
+      public Builder setLongitude(float value) {
         
-        power_ = value;
+        longitude_ = value;
         onChanged();
         return this;
       }
       /**
-       * <code>optional float power = 4;</code>
+       * <code>optional float longitude = 3;</code>
        */
-      public Builder clearPower() {
+      public Builder clearLongitude() {
         
-        power_ = 0F;
+        longitude_ = 0F;
         onChanged();
         return this;
       }
 
-      private int version_ ;
+      private java.lang.Object algorithm_ = "";
       /**
-       * <code>optional int32 version = 5;</code>
+       * <code>optional string algorithm = 4;</code>
        */
-      public int getVersion() {
-        return version_;
+      public java.lang.String getAlgorithm() {
+        java.lang.Object ref = algorithm_;
+        if (!(ref instanceof java.lang.String)) {
+          com.google.protobuf.ByteString bs =
+              (com.google.protobuf.ByteString) ref;
+          java.lang.String s = bs.toStringUtf8();
+          algorithm_ = s;
+          return s;
+        } else {
+          return (java.lang.String) ref;
+        }
       }
       /**
-       * <code>optional int32 version = 5;</code>
+       * <code>optional string algorithm = 4;</code>
        */
-      public Builder setVersion(int value) {
-        
-        version_ = value;
-        onChanged();
-        return this;
+      public com.google.protobuf.ByteString
+          getAlgorithmBytes() {
+        java.lang.Object ref = algorithm_;
+        if (ref instanceof String) {
+          com.google.protobuf.ByteString b = 
+              com.google.protobuf.ByteString.copyFromUtf8(
+                  (java.lang.String) ref);
+          algorithm_ = b;
+          return b;
+        } else {
+          return (com.google.protobuf.ByteString) ref;
+        }
       }
       /**
-       * <code>optional int32 version = 5;</code>
+       * <code>optional string algorithm = 4;</code>
        */
-      public Builder clearVersion() {
-        
-        version_ = 0;
+      public Builder setAlgorithm(
+          java.lang.String value) {
+        if (value == null) {
+    throw new NullPointerException();
+  }
+  
+        algorithm_ = value;
         onChanged();
         return this;
       }
-
-      private int type_ ;
-      /**
-       * <code>optional int32 type = 6;</code>
-       */
-      public int getType() {
-        return type_;
-      }
       /**
-       * <code>optional int32 type = 6;</code>
+       * <code>optional string algorithm = 4;</code>
        */
-      public Builder setType(int value) {
+      public Builder clearAlgorithm() {
         
-        type_ = value;
+        algorithm_ = getDefaultInstance().getAlgorithm();
         onChanged();
         return this;
       }
       /**
-       * <code>optional int32 type = 6;</code>
+       * <code>optional string algorithm = 4;</code>
        */
-      public Builder clearType() {
+      public Builder setAlgorithmBytes(
+          com.google.protobuf.ByteString value) {
+        if (value == null) {
+    throw new NullPointerException();
+  }
+  checkByteStringIsUtf8(value);
         
-        type_ = 0;
+        algorithm_ = value;
         onChanged();
         return this;
       }
@@ -12435,39 +15015,39 @@ public final Builder mergeUnknownFields(
       }
 
 
-      // @@protoc_insertion_point(builder_scope:Sensor_Info)
+      // @@protoc_insertion_point(builder_scope:Fused_Pos)
     }
 
-    // @@protoc_insertion_point(class_scope:Sensor_Info)
-    private static final Sensor_Info DEFAULT_INSTANCE;
+    // @@protoc_insertion_point(class_scope:Fused_Pos)
+    private static final com.openpositioning.PositionMe.Traj.Fused_Pos DEFAULT_INSTANCE;
     static {
-      DEFAULT_INSTANCE = new Sensor_Info();
+      DEFAULT_INSTANCE = new com.openpositioning.PositionMe.Traj.Fused_Pos();
     }
 
-    public static Sensor_Info getDefaultInstance() {
+    public static com.openpositioning.PositionMe.Traj.Fused_Pos getDefaultInstance() {
       return DEFAULT_INSTANCE;
     }
 
-    private static final com.google.protobuf.Parser<Sensor_Info>
-        PARSER = new com.google.protobuf.AbstractParser<Sensor_Info>() {
-      public Sensor_Info parsePartialFrom(
+    private static final com.google.protobuf.Parser<Fused_Pos>
+        PARSER = new com.google.protobuf.AbstractParser<Fused_Pos>() {
+      public Fused_Pos parsePartialFrom(
           com.google.protobuf.CodedInputStream input,
           com.google.protobuf.ExtensionRegistryLite extensionRegistry)
           throws com.google.protobuf.InvalidProtocolBufferException {
-          return new Sensor_Info(input, extensionRegistry);
+          return new Fused_Pos(input, extensionRegistry);
       }
     };
 
-    public static com.google.protobuf.Parser<Sensor_Info> parser() {
+    public static com.google.protobuf.Parser<Fused_Pos> parser() {
       return PARSER;
     }
 
-    @Override
-    public com.google.protobuf.Parser<Sensor_Info> getParserForType() {
+    @java.lang.Override
+    public com.google.protobuf.Parser<Fused_Pos> getParserForType() {
       return PARSER;
     }
 
-    public Sensor_Info getDefaultInstanceForType() {
+    public com.openpositioning.PositionMe.Traj.Fused_Pos getDefaultInstanceForType() {
       return DEFAULT_INSTANCE;
     }
 
@@ -12513,6 +15093,11 @@ public Sensor_Info getDefaultInstanceForType() {
   private static final 
     com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
       internal_static_WiFi_Sample_fieldAccessorTable;
+  private static final com.google.protobuf.Descriptors.Descriptor
+    internal_static_Position_descriptor;
+  private static final 
+    com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+      internal_static_Position_fieldAccessorTable;
   private static final com.google.protobuf.Descriptors.Descriptor
     internal_static_Mac_Scan_descriptor;
   private static final 
@@ -12528,6 +15113,16 @@ public Sensor_Info getDefaultInstanceForType() {
   private static final 
     com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
       internal_static_Sensor_Info_fieldAccessorTable;
+  private static final com.google.protobuf.Descriptors.Descriptor
+    internal_static_Initial_Pos_descriptor;
+  private static final 
+    com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+      internal_static_Initial_Pos_fieldAccessorTable;
+  private static final com.google.protobuf.Descriptors.Descriptor
+    internal_static_Fused_Pos_descriptor;
+  private static final 
+    com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+      internal_static_Fused_Pos_fieldAccessorTable;
 
   public static com.google.protobuf.Descriptors.FileDescriptor
       getDescriptor() {
@@ -12536,49 +15131,58 @@ public Sensor_Info getDefaultInstanceForType() {
   private static  com.google.protobuf.Descriptors.FileDescriptor
       descriptor;
   static {
-    String[] descriptorData = {
-      "\n#Cloud/app/src/main/proto/traj.proto\"\337\004" +
-      "\n\nTrajectory\022\027\n\017android_version\030\001 \001(\t\022 \n" +
-      "\010imu_data\030\002 \003(\0132\016.Motion_Sample\022\035\n\010pdr_d" +
-      "ata\030\003 \003(\0132\013.Pdr_Sample\022\'\n\rposition_data\030" +
-      "\004 \003(\0132\020.Position_Sample\022\'\n\rpressure_data" +
-      "\030\005 \003(\0132\020.Pressure_Sample\022!\n\nlight_data\030\006" +
-      " \003(\0132\r.Light_Sample\022\037\n\tgnss_data\030\007 \003(\0132\014" +
-      ".GNSS_Sample\022\037\n\twifi_data\030\010 \003(\0132\014.WiFi_S" +
-      "ample\022\032\n\010aps_data\030\t \003(\0132\010.AP_Data\022\027\n\017sta" +
-      "rt_timestamp\030\n \001(\003\022\027\n\017data_identifier\030\013 ",
-      "\001(\t\022(\n\022accelerometer_info\030\014 \001(\0132\014.Sensor" +
-      "_Info\022$\n\016gyroscope_info\030\r \001(\0132\014.Sensor_I" +
-      "nfo\022*\n\024rotation_vector_info\030\016 \001(\0132\014.Sens" +
-      "or_Info\022\'\n\021magnetometer_info\030\017 \001(\0132\014.Sen" +
-      "sor_Info\022$\n\016barometer_info\030\020 \001(\0132\014.Senso" +
-      "r_Info\022\'\n\021light_sensor_info\030\021 \001(\0132\014.Sens" +
-      "or_Info\">\n\nPdr_Sample\022\032\n\022relative_timest" +
-      "amp\030\001 \001(\003\022\t\n\001x\030\002 \001(\002\022\t\n\001y\030\003 \001(\002\"\205\002\n\rMoti" +
-      "on_Sample\022\032\n\022relative_timestamp\030\001 \001(\003\022\r\n" +
-      "\005acc_x\030\002 \001(\002\022\r\n\005acc_y\030\003 \001(\002\022\r\n\005acc_z\030\004 \001",
-      "(\002\022\r\n\005gyr_x\030\005 \001(\002\022\r\n\005gyr_y\030\006 \001(\002\022\r\n\005gyr_" +
-      "z\030\007 \001(\002\022\031\n\021rotation_vector_x\030\010 \001(\002\022\031\n\021ro" +
-      "tation_vector_y\030\t \001(\002\022\031\n\021rotation_vector" +
-      "_z\030\n \001(\002\022\031\n\021rotation_vector_w\030\013 \001(\002\022\022\n\ns" +
-      "tep_count\030\014 \001(\005\"Z\n\017Position_Sample\022\032\n\022re" +
-      "lative_timestamp\030\001 \001(\003\022\r\n\005mag_x\030\002 \001(\002\022\r\n" +
-      "\005mag_y\030\003 \001(\002\022\r\n\005mag_z\030\004 \001(\002\"?\n\017Pressure_" +
-      "Sample\022\032\n\022relative_timestamp\030\001 \001(\003\022\020\n\010pr" +
-      "essure\030\002 \001(\002\"9\n\014Light_Sample\022\032\n\022relative" +
-      "_timestamp\030\001 \001(\003\022\r\n\005light\030\002 \001(\002\"\223\001\n\013GNSS",
-      "_Sample\022\032\n\022relative_timestamp\030\001 \001(\003\022\020\n\010l" +
-      "atitude\030\002 \001(\002\022\021\n\tlongitude\030\003 \001(\002\022\020\n\010alti" +
-      "tude\030\004 \001(\002\022\020\n\010accuracy\030\005 \001(\002\022\r\n\005speed\030\006 " +
-      "\001(\002\022\020\n\010provider\030\007 \001(\t\"G\n\013WiFi_Sample\022\032\n\022" +
-      "relative_timestamp\030\001 \001(\003\022\034\n\tmac_scans\030\002 " +
-      "\003(\0132\t.Mac_Scan\"A\n\010Mac_Scan\022\032\n\022relative_t" +
-      "imestamp\030\001 \001(\003\022\013\n\003mac\030\002 \001(\003\022\014\n\004rssi\030\003 \001(" +
-      "\005\"7\n\007AP_Data\022\013\n\003mac\030\001 \001(\003\022\014\n\004ssid\030\002 \001(\t\022" +
-      "\021\n\tfrequency\030\003 \001(\003\"m\n\013Sensor_Info\022\014\n\004nam" +
-      "e\030\001 \001(\t\022\016\n\006vendor\030\002 \001(\t\022\022\n\nresolution\030\003 ",
-      "\001(\002\022\r\n\005power\030\004 \001(\002\022\017\n\007version\030\005 \001(\005\022\014\n\004t" +
-      "ype\030\006 \001(\005b\006proto3"
+    java.lang.String[] descriptorData = {
+      "\n\ntraj.proto\"\241\005\n\nTrajectory\022\027\n\017android_v" +
+      "ersion\030\001 \001(\t\022 \n\010imu_data\030\002 \003(\0132\016.Motion_" +
+      "Sample\022\035\n\010pdr_data\030\003 \003(\0132\013.Pdr_Sample\022\'\n" +
+      "\rposition_data\030\004 \003(\0132\020.Position_Sample\022\'" +
+      "\n\rpressure_data\030\005 \003(\0132\020.Pressure_Sample\022" +
+      "!\n\nlight_data\030\006 \003(\0132\r.Light_Sample\022\037\n\tgn" +
+      "ss_data\030\007 \003(\0132\014.GNSS_Sample\022\037\n\twifi_data" +
+      "\030\010 \003(\0132\014.WiFi_Sample\022\032\n\010aps_data\030\t \003(\0132\010" +
+      ".AP_Data\022\027\n\017start_timestamp\030\n \001(\003\022\027\n\017dat" +
+      "a_identifier\030\013 \001(\t\022(\n\022accelerometer_info",
+      "\030\014 \001(\0132\014.Sensor_Info\022$\n\016gyroscope_info\030\r" +
+      " \001(\0132\014.Sensor_Info\022*\n\024rotation_vector_in" +
+      "fo\030\016 \001(\0132\014.Sensor_Info\022\'\n\021magnetometer_i" +
+      "nfo\030\017 \001(\0132\014.Sensor_Info\022$\n\016barometer_inf" +
+      "o\030\020 \001(\0132\014.Sensor_Info\022\'\n\021light_sensor_in" +
+      "fo\030\021 \001(\0132\014.Sensor_Info\022!\n\013initial_pos\030\022 " +
+      "\001(\0132\014.Initial_Pos\022\035\n\tfused_pos\030\023 \003(\0132\n.F" +
+      "used_Pos\">\n\nPdr_Sample\022\032\n\022relative_times" +
+      "tamp\030\001 \001(\003\022\t\n\001x\030\002 \001(\002\022\t\n\001y\030\003 \001(\002\"\205\002\n\rMot" +
+      "ion_Sample\022\032\n\022relative_timestamp\030\001 \001(\003\022\r",
+      "\n\005acc_x\030\002 \001(\002\022\r\n\005acc_y\030\003 \001(\002\022\r\n\005acc_z\030\004 " +
+      "\001(\002\022\r\n\005gyr_x\030\005 \001(\002\022\r\n\005gyr_y\030\006 \001(\002\022\r\n\005gyr" +
+      "_z\030\007 \001(\002\022\031\n\021rotation_vector_x\030\010 \001(\002\022\031\n\021r" +
+      "otation_vector_y\030\t \001(\002\022\031\n\021rotation_vecto" +
+      "r_z\030\n \001(\002\022\031\n\021rotation_vector_w\030\013 \001(\002\022\022\n\n" +
+      "step_count\030\014 \001(\005\"Z\n\017Position_Sample\022\032\n\022r" +
+      "elative_timestamp\030\001 \001(\003\022\r\n\005mag_x\030\002 \001(\002\022\r" +
+      "\n\005mag_y\030\003 \001(\002\022\r\n\005mag_z\030\004 \001(\002\"?\n\017Pressure" +
+      "_Sample\022\032\n\022relative_timestamp\030\001 \001(\003\022\020\n\010p" +
+      "ressure\030\002 \001(\002\"9\n\014Light_Sample\022\032\n\022relativ",
+      "e_timestamp\030\001 \001(\003\022\r\n\005light\030\002 \001(\002\"\223\001\n\013GNS" +
+      "S_Sample\022\032\n\022relative_timestamp\030\001 \001(\003\022\020\n\010" +
+      "latitude\030\002 \001(\002\022\021\n\tlongitude\030\003 \001(\002\022\020\n\010alt" +
+      "itude\030\004 \001(\002\022\020\n\010accuracy\030\005 \001(\002\022\r\n\005speed\030\006" +
+      " \001(\002\022\020\n\010provider\030\007 \001(\t\"d\n\013WiFi_Sample\022\032\n" +
+      "\022relative_timestamp\030\001 \001(\003\022\034\n\tmac_scans\030\002" +
+      " \003(\0132\t.Mac_Scan\022\033\n\010position\030\003 \001(\0132\t.Posi" +
+      "tion\"Z\n\010Position\022\032\n\022relative_timestamp\030\001" +
+      " \001(\003\022\020\n\010latitude\030\002 \001(\002\022\021\n\tlongitude\030\003 \001(" +
+      "\002\022\r\n\005floor\030\004 \001(\005\"A\n\010Mac_Scan\022\032\n\022relative",
+      "_timestamp\030\001 \001(\003\022\013\n\003mac\030\002 \001(\003\022\014\n\004rssi\030\003 " +
+      "\001(\005\"7\n\007AP_Data\022\013\n\003mac\030\001 \001(\003\022\014\n\004ssid\030\002 \001(" +
+      "\t\022\021\n\tfrequency\030\003 \001(\003\"m\n\013Sensor_Info\022\014\n\004n" +
+      "ame\030\001 \001(\t\022\016\n\006vendor\030\002 \001(\t\022\022\n\nresolution\030" +
+      "\003 \001(\002\022\r\n\005power\030\004 \001(\002\022\017\n\007version\030\005 \001(\005\022\014\n" +
+      "\004type\030\006 \001(\005\"B\n\013Initial_Pos\022\030\n\020initial_la" +
+      "titude\030\001 \001(\002\022\031\n\021initial_longitude\030\002 \001(\002\"" +
+      "_\n\tFused_Pos\022\032\n\022relative_timestamp\030\001 \001(\003" +
+      "\022\020\n\010latitude\030\002 \001(\002\022\021\n\tlongitude\030\003 \001(\002\022\021\n" +
+      "\talgorithm\030\004 \001(\tB \n\036com.openpositioning.",
+      "PositionMeb\006proto3"
     };
     com.google.protobuf.Descriptors.FileDescriptor.InternalDescriptorAssigner assigner =
         new com.google.protobuf.Descriptors.FileDescriptor.    InternalDescriptorAssigner() {
@@ -12597,67 +15201,85 @@ public com.google.protobuf.ExtensionRegistry assignDescriptors(
     internal_static_Trajectory_fieldAccessorTable = new
       com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
         internal_static_Trajectory_descriptor,
-        new String[] { "AndroidVersion", "ImuData", "PdrData", "PositionData", "PressureData", "LightData", "GnssData", "WifiData", "ApsData", "StartTimestamp", "DataIdentifier", "AccelerometerInfo", "GyroscopeInfo", "RotationVectorInfo", "MagnetometerInfo", "BarometerInfo", "LightSensorInfo", });
+        new java.lang.String[] { "AndroidVersion", "ImuData", "PdrData", "PositionData", "PressureData", "LightData", "GnssData", "WifiData", "ApsData", "StartTimestamp", "DataIdentifier", "AccelerometerInfo", "GyroscopeInfo", "RotationVectorInfo", "MagnetometerInfo", "BarometerInfo", "LightSensorInfo", "InitialPos", "FusedPos", });
     internal_static_Pdr_Sample_descriptor =
       getDescriptor().getMessageTypes().get(1);
     internal_static_Pdr_Sample_fieldAccessorTable = new
       com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
         internal_static_Pdr_Sample_descriptor,
-        new String[] { "RelativeTimestamp", "X", "Y", });
+        new java.lang.String[] { "RelativeTimestamp", "X", "Y", });
     internal_static_Motion_Sample_descriptor =
       getDescriptor().getMessageTypes().get(2);
     internal_static_Motion_Sample_fieldAccessorTable = new
       com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
         internal_static_Motion_Sample_descriptor,
-        new String[] { "RelativeTimestamp", "AccX", "AccY", "AccZ", "GyrX", "GyrY", "GyrZ", "RotationVectorX", "RotationVectorY", "RotationVectorZ", "RotationVectorW", "StepCount", });
+        new java.lang.String[] { "RelativeTimestamp", "AccX", "AccY", "AccZ", "GyrX", "GyrY", "GyrZ", "RotationVectorX", "RotationVectorY", "RotationVectorZ", "RotationVectorW", "StepCount", });
     internal_static_Position_Sample_descriptor =
       getDescriptor().getMessageTypes().get(3);
     internal_static_Position_Sample_fieldAccessorTable = new
       com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
         internal_static_Position_Sample_descriptor,
-        new String[] { "RelativeTimestamp", "MagX", "MagY", "MagZ", });
+        new java.lang.String[] { "RelativeTimestamp", "MagX", "MagY", "MagZ", });
     internal_static_Pressure_Sample_descriptor =
       getDescriptor().getMessageTypes().get(4);
     internal_static_Pressure_Sample_fieldAccessorTable = new
       com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
         internal_static_Pressure_Sample_descriptor,
-        new String[] { "RelativeTimestamp", "Pressure", });
+        new java.lang.String[] { "RelativeTimestamp", "Pressure", });
     internal_static_Light_Sample_descriptor =
       getDescriptor().getMessageTypes().get(5);
     internal_static_Light_Sample_fieldAccessorTable = new
       com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
         internal_static_Light_Sample_descriptor,
-        new String[] { "RelativeTimestamp", "Light", });
+        new java.lang.String[] { "RelativeTimestamp", "Light", });
     internal_static_GNSS_Sample_descriptor =
       getDescriptor().getMessageTypes().get(6);
     internal_static_GNSS_Sample_fieldAccessorTable = new
       com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
         internal_static_GNSS_Sample_descriptor,
-        new String[] { "RelativeTimestamp", "Latitude", "Longitude", "Altitude", "Accuracy", "Speed", "Provider", });
+        new java.lang.String[] { "RelativeTimestamp", "Latitude", "Longitude", "Altitude", "Accuracy", "Speed", "Provider", });
     internal_static_WiFi_Sample_descriptor =
       getDescriptor().getMessageTypes().get(7);
     internal_static_WiFi_Sample_fieldAccessorTable = new
       com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
         internal_static_WiFi_Sample_descriptor,
-        new String[] { "RelativeTimestamp", "MacScans", });
-    internal_static_Mac_Scan_descriptor =
+        new java.lang.String[] { "RelativeTimestamp", "MacScans", "Position", });
+    internal_static_Position_descriptor =
       getDescriptor().getMessageTypes().get(8);
+    internal_static_Position_fieldAccessorTable = new
+      com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+        internal_static_Position_descriptor,
+        new java.lang.String[] { "RelativeTimestamp", "Latitude", "Longitude", "Floor", });
+    internal_static_Mac_Scan_descriptor =
+      getDescriptor().getMessageTypes().get(9);
     internal_static_Mac_Scan_fieldAccessorTable = new
       com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
         internal_static_Mac_Scan_descriptor,
-        new String[] { "RelativeTimestamp", "Mac", "Rssi", });
+        new java.lang.String[] { "RelativeTimestamp", "Mac", "Rssi", });
     internal_static_AP_Data_descriptor =
-      getDescriptor().getMessageTypes().get(9);
+      getDescriptor().getMessageTypes().get(10);
     internal_static_AP_Data_fieldAccessorTable = new
       com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
         internal_static_AP_Data_descriptor,
-        new String[] { "Mac", "Ssid", "Frequency", });
+        new java.lang.String[] { "Mac", "Ssid", "Frequency", });
     internal_static_Sensor_Info_descriptor =
-      getDescriptor().getMessageTypes().get(10);
+      getDescriptor().getMessageTypes().get(11);
     internal_static_Sensor_Info_fieldAccessorTable = new
       com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
         internal_static_Sensor_Info_descriptor,
-        new String[] { "Name", "Vendor", "Resolution", "Power", "Version", "Type", });
+        new java.lang.String[] { "Name", "Vendor", "Resolution", "Power", "Version", "Type", });
+    internal_static_Initial_Pos_descriptor =
+      getDescriptor().getMessageTypes().get(12);
+    internal_static_Initial_Pos_fieldAccessorTable = new
+      com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+        internal_static_Initial_Pos_descriptor,
+        new java.lang.String[] { "InitialLatitude", "InitialLongitude", });
+    internal_static_Fused_Pos_descriptor =
+      getDescriptor().getMessageTypes().get(13);
+    internal_static_Fused_Pos_fieldAccessorTable = new
+      com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+        internal_static_Fused_Pos_descriptor,
+        new java.lang.String[] { "RelativeTimestamp", "Latitude", "Longitude", "Algorithm", });
   }
 
   // @@protoc_insertion_point(outer_class_scope)
diff --git a/app/src/main/java/com/openpositioning/PositionMe/data/local/TrajParser.java b/app/src/main/java/com/openpositioning/PositionMe/data/local/TrajParser.java
index 2d2b1cbf..c11ce7d6 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/data/local/TrajParser.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/data/local/TrajParser.java
@@ -7,17 +7,21 @@
 import com.google.android.gms.maps.model.LatLng;
 import com.google.gson.Gson;
 import com.google.gson.JsonArray;
+import com.google.gson.JsonElement;
 import com.google.gson.JsonObject;
 import com.google.gson.JsonParser;
 import com.openpositioning.PositionMe.presentation.fragment.ReplayFragment;
 import com.openpositioning.PositionMe.sensors.SensorFusion;
 
+import org.json.JSONObject;
+
 import java.io.BufferedReader;
 import java.io.File;
 import java.io.FileReader;
 import java.util.ArrayList;
 import java.util.Collections;
 import java.util.Comparator;
+import java.util.Iterator;
 import java.util.List;
 
 /**
@@ -60,24 +64,38 @@ public class TrajParser {
      * orientation, speed, and timestamp.
      */
     public static class ReplayPoint {
-        public LatLng pdrLocation;  // PDR-derived location estimate
-        public LatLng gnssLocation; // GNSS location (may be null if unavailable)
-        public float orientation;   // Orientation in degrees
-        public float speed;         // Speed in meters per second
-        public long timestamp;      // Relative timestamp
+        public LatLng pdrLocation;
+        public LatLng gnssLocation;
+        public LatLng wifiLocation;
+        public int wifiFloor;
+        public LatLng fusedLocation;
+        public LatLng initialPosition;
+        public float orientation;
+        public float speed;
+        public long timestamp;
 
         /**
          * Constructs a ReplayPoint.
          *
-         * @param pdrLocation  The pedestrian dead reckoning (PDR) location.
-         * @param gnssLocation The GNSS location, or null if unavailable.
-         * @param orientation  The orientation angle in degrees.
-         * @param speed        The speed in meters per second.
-         * @param timestamp    The timestamp associated with this point.
+         * @param pdrLocation   The pedestrian dead reckoning (PDR) location.
+         * @param gnssLocation  The GNSS location, or null if unavailable.
+         * @param wifiLocation  The WiFi location, or null if unavailable.
+         * @param wifiFloor     The WiFi floor, or null if unavailable.
+         * @param fusedLocation  The Fused location, or null if unavailable.
+         * @param initialPosition The initial position from the trajectory file.
+         * @param orientation   The orientation angle in degrees.
+         * @param speed         The speed in meters per second.
+         * @param timestamp     The timestamp associated with this point.
          */
-        public ReplayPoint(LatLng pdrLocation, LatLng gnssLocation, float orientation, float speed, long timestamp) {
+        public ReplayPoint(LatLng pdrLocation, LatLng gnssLocation, LatLng wifiLocation, int wifiFloor,
+                           LatLng fusedLocation, LatLng initialPosition, float orientation, float speed,
+                           long timestamp) {
             this.pdrLocation = pdrLocation;
             this.gnssLocation = gnssLocation;
+            this.wifiLocation = wifiLocation;
+            this.wifiFloor = wifiFloor;
+            this.fusedLocation = fusedLocation;
+            this.initialPosition = initialPosition;
             this.orientation = orientation;
             this.speed = speed;
             this.timestamp = timestamp;
@@ -102,8 +120,42 @@ private static class PdrRecord {
     private static class GnssRecord {
         public long relativeTimestamp;
         public double latitude, longitude; // GNSS coordinates
+        public String provider;
+    }
+
+    // Semih - NEW
+    /** Represents a WIFI Positioning data record with latitude/longitude/floor. */
+    private static class WifiRecord {
+        public long relativeTimestamp;
+        public float latitude, longitude;
+        public int floor;
+
+        public WifiRecord(long relativeTimestamp, float latitude, float longitude, int floor) {
+            this.relativeTimestamp = relativeTimestamp;
+            this.latitude = latitude;
+            this.longitude = longitude;
+            this.floor = floor;
+        }
+    }
+    /** Represents a Fused Location data record with latitude/longitude. */
+    private static class FusedRecord {
+        public long relativeTimestamp;
+        public float latitude, longitude;
+    }
+    /** Represents a Tag Location data record with latitude/longitude/altitude. */
+    public static class TagRecord {
+        public long relativeTimestamp;
+        public double latitude, longitude, altitude;
+    }
+
+    private static List<TagRecord> tagMarkers = new ArrayList<>();
+
+    public static List<TagRecord> getTagMarkers() {
+        return tagMarkers;
     }
 
+    // Semih - END
+
     /**
      * Parses trajectory data from a JSON file and reconstructs a list of replay points.
      *
@@ -120,12 +172,9 @@ private static class GnssRecord {
      *
      * @param filePath  Path to the JSON file containing trajectory data.
      * @param context   Android application context (used for sensor processing).
-     * @param originLat Latitude of the reference origin.
-     * @param originLng Longitude of the reference origin.
      * @return A list of parsed {@link ReplayPoint} objects.
      */
-    public static List<ReplayPoint> parseTrajectoryData(String filePath, Context context,
-                                                        double originLat, double originLng) {
+    public static List<ReplayPoint> parseTrajectoryData(String filePath, Context context) {
         List<ReplayPoint> result = new ArrayList<>();
 
         try {
@@ -140,6 +189,75 @@ public static List<ReplayPoint> parseTrajectoryData(String filePath, Context con
             }
 
             BufferedReader br = new BufferedReader(new FileReader(file));
+
+            /*
+            // STONE - new
+            StringBuilder jsonBuilder = new StringBuilder();
+            String line;
+            while ((line = br.readLine()) != null) {
+                jsonBuilder.append(line).append("\n");
+            }
+            br.close();
+            Log.d("JSON_CONTENT", jsonBuilder.toString());
+            // STONE - END
+            */
+
+            /*
+            // JSON LOGGER (INITIAL-GNSS-WIFI-FUSED)
+            StringBuilder jsonBuilder = new StringBuilder();
+            String line;
+            while ((line = br.readLine()) != null) {
+                jsonBuilder.append(line).append("\n");
+            }
+            br.close();
+
+            // Convert to string
+            String jsonString = jsonBuilder.toString();
+
+            // Parse JSON and extract keys
+            JSONObject jsonObject = new JSONObject(jsonString);
+            Iterator<String> keys = jsonObject.keys();
+
+            StringBuilder outputBuilder = new StringBuilder("JSON Group Names:\n");
+
+            // Print all top-level keys
+            while (keys.hasNext()) {
+                outputBuilder.append(keys.next()).append("\n");
+            }
+
+            // Extract and print "initialPos", "gnssData", and "wifiData" if they exist
+            if (jsonObject.has("initialPos")) {
+                outputBuilder.append("\nData in 'initialPos':\n");
+                outputBuilder.append(jsonObject.get("initialPos").toString()).append("\n");
+            } else {
+                outputBuilder.append("\n'initialPos' key not found.\n");
+            }
+
+            if (jsonObject.has("gnssData")) {
+                outputBuilder.append("\nData in 'gnssData':\n");
+                outputBuilder.append(jsonObject.get("gnssData").toString()).append("\n");
+            } else {
+                outputBuilder.append("\n'gnssData' key not found.\n");
+            }
+
+            if (jsonObject.has("wifiData")) {
+                outputBuilder.append("\nData in 'wifiData':\n");
+                outputBuilder.append(jsonObject.get("wifiData").toString()).append("\n");
+            } else {
+                outputBuilder.append("\n'wifiData' key not found.\n");
+            }
+
+            if (jsonObject.has("fusedPos")) {
+                outputBuilder.append("\nData in 'fusedPos':\n");
+                outputBuilder.append(jsonObject.get("fusedPos").toString()).append("\n");
+            } else {
+                outputBuilder.append("\n'fusedPos' key not found.\n");
+            }
+
+            // Log the final output
+            Log.d("JSON_OUTPUT", outputBuilder.toString());
+            */
+
             JsonObject root = new JsonParser().parse(br).getAsJsonObject();
             br.close();
 
@@ -147,12 +265,70 @@ public static List<ReplayPoint> parseTrajectoryData(String filePath, Context con
 
             long startTimestamp = root.has("startTimestamp") ? root.get("startTimestamp").getAsLong() : 0;
 
+            // Semih - ADD
+            // Extract Initial Position from JSON
+            LatLng initialPosition = null;
+
+            if (root.has("initialPos")) {
+                JsonObject initialPosJson = root.getAsJsonObject("initialPos");
+                double initialLatitude = initialPosJson.has("initialLatitude") ?
+                        initialPosJson.get("initialLatitude").getAsDouble() : 0.0;
+                double initialLongitude = initialPosJson.has("initialLongitude") ?
+                        initialPosJson.get("initialLongitude").getAsDouble() : 0.0;
+
+                initialPosition = new LatLng(initialLatitude, initialLongitude);
+
+                Log.i(TAG, "Initial Position - Latitude: " + initialLatitude + ", Longitude: " + initialLongitude);
+            } else {
+                Log.e(TAG, "Initial Position key NOT found in JSON!");
+            }
+
+            // Extract tag markers
+            if (root.has("tags")) {
+                tagMarkers = parseTagData(root.getAsJsonArray("tags"));
+                Log.d(TAG, "Loaded " + tagMarkers.size() + " tag markers.");
+            } else {
+                Log.w(TAG, "No tag markers found in trajectory.");
+            }
+            // Semih - END
+
+
             List<ImuRecord> imuList = parseImuData(root.getAsJsonArray("imuData"));
             List<PdrRecord> pdrList = parsePdrData(root.getAsJsonArray("pdrData"));
             List<GnssRecord> gnssList = parseGnssData(root.getAsJsonArray("gnssData"));
+            List<WifiRecord> wifiList = parseWifiData(root.getAsJsonArray("wifiData"));
+            List<FusedRecord> fusedList = parseFusedData(root.getAsJsonArray("fusedPos"));
+
+            // Parsed Data Checks
+            /*
+            Log.d(TAG, "Parsed GNSS Data:");
+            for (GnssRecord record : gnssList) {
+                Log.d(TAG, "GNSS - Timestamp: " + record.relativeTimestamp +
+                        ", Latitude: " + record.latitude +
+                        ", Longitude: " + record.longitude);
+            }
+
+            Log.d(TAG, "Parsed WIFI Data:");
+            for (WifiRecord record : wifiList) {
+                Log.d(TAG, "WIFI - Timestamp: " + record.relativeTimestamp +
+                        ", Latitude: " + record.latitude +
+                        ", Longitude: " + record.longitude);
+            }
+
+            Log.d(TAG, "Parsed Fused Data:");
+            for (FusedRecord record : fusedList) {
+                Log.d(TAG, "Fused - Timestamp: " + record.relativeTimestamp +
+                        ", Latitude: " + record.latitude +
+                        ", Longitude: " + record.longitude);
+            }
+             */
+
 
             Log.i(TAG, "Parsed data - IMU: " + imuList.size() + " records, PDR: "
-                    + pdrList.size() + " records, GNSS: " + gnssList.size() + " records");
+                    + pdrList.size() + " records, GNSS: " + gnssList.size() + " records, Wifi: " + wifiList.size());
+
+            Log.d(TAG, "Loaded " + tagMarkers.size() + " tag markers from fusion GNSS data.");
+
 
             for (int i = 0; i < pdrList.size(); i++) {
                 PdrRecord pdr = pdrList.get(i);
@@ -177,16 +353,28 @@ public static List<ReplayPoint> parseTrajectoryData(String filePath, Context con
                 }
 
 
-                double lat = originLat + pdr.y * 1E-5;
-                double lng = originLng + pdr.x * 1E-5;
+                double lat = initialPosition.latitude + pdr.y * 1E-5;
+                double lng = initialPosition.longitude + pdr.x * 1E-5;
                 LatLng pdrLocation = new LatLng(lat, lng);
 
                 GnssRecord closestGnss = findClosestGnssRecord(gnssList, pdr.relativeTimestamp);
                 LatLng gnssLocation = closestGnss != null ?
                         new LatLng(closestGnss.latitude, closestGnss.longitude) : null;
 
-                result.add(new ReplayPoint(pdrLocation, gnssLocation, orientationDeg,
-                        0f, pdr.relativeTimestamp));
+                WifiRecord closestWifi = findClosestWifiRecord(wifiList, pdr.relativeTimestamp);
+                LatLng wifiLocation = closestWifi != null ?
+                        new LatLng(closestWifi.latitude, closestWifi.longitude) : null;
+                int wifiFloor = closestWifi != null ? closestWifi.floor : 0;
+
+
+                FusedRecord closestFused = findClosestFusedRecord(fusedList, pdr.relativeTimestamp);
+                LatLng fusedLocation = closestFused != null ?
+                        new LatLng(closestFused.latitude, closestFused.longitude) : null;
+
+                result.add(new ReplayPoint(pdrLocation, gnssLocation, wifiLocation, wifiFloor,
+                        fusedLocation, initialPosition, orientationDeg, speed, pdr.relativeTimestamp));
+
+
             }
 
             Collections.sort(result, Comparator.comparingLong(rp -> rp.timestamp));
@@ -222,14 +410,94 @@ private static List<PdrRecord> parsePdrData(JsonArray pdrArray) {
 }/** Parses GNSS data from JSON. */
 private static List<GnssRecord> parseGnssData(JsonArray gnssArray) {
     List<GnssRecord> gnssList = new ArrayList<>();
-    if (gnssArray == null) return gnssList;
-    Gson gson = new Gson();
-    for (int i = 0; i < gnssArray.size(); i++) {
-        GnssRecord record = gson.fromJson(gnssArray.get(i), GnssRecord.class);
-        gnssList.add(record);
+    tagMarkers.clear(); // Clear old markers to prevent duplicates
+
+    Iterator<JsonElement> iterator = gnssArray.iterator(); // Use iterator for safe removal
+
+    while (iterator.hasNext()) {
+        JsonObject obj = iterator.next().getAsJsonObject();
+        GnssRecord record = new GnssRecord();
+
+        System.out.println(obj);
+
+        record.relativeTimestamp = obj.get("relativeTimestamp").getAsLong();
+        record.latitude = obj.get("latitude").getAsDouble();
+        record.longitude = obj.get("longitude").getAsDouble();
+        record.provider = obj.has("provider") ? obj.get("provider").getAsString() : "unknown";
+
+        if ("fusion".equals(record.provider)) {
+            TagRecord tag = new TagRecord();
+            tag.relativeTimestamp = record.relativeTimestamp;
+            tag.latitude = record.latitude;
+            tag.longitude = record.longitude;
+            tag.altitude = obj.has("altitude") ? obj.get("altitude").getAsDouble() : 0.0;
+
+            tagMarkers.add(tag);
+        } else {
+            gnssList.add(record); // Only keep non-"fusion" records
+        }
     }
+
+    Log.d(TAG, "Filtered GNSS records: " + gnssList.size());
+    Log.d(TAG, "Extracted tag markers: " + tagMarkers.size());
+
     return gnssList;
-}/** Finds the closest IMU record to the given timestamp. */
+}
+/** Parses WIFI data from JSON. */
+private static List<WifiRecord> parseWifiData(JsonArray wifiArray) {
+    List<WifiRecord> wifiList = new ArrayList<>();
+    if (wifiArray == null) return wifiList;
+
+    for (int i = 0; i < wifiArray.size(); i++) {
+        JsonObject wifiObject = wifiArray.get(i).getAsJsonObject();
+
+        if (wifiObject.has("position")) {
+            JsonObject positionObject = wifiObject.getAsJsonObject("position");
+
+            long relativeTimestamp = positionObject.has("relativeTimestamp") ?
+                    positionObject.get("relativeTimestamp").getAsLong() : 0;
+
+            float latitude = positionObject.has("latitude") ?
+                    positionObject.get("latitude").getAsFloat() : 0.0f;
+
+            float longitude = positionObject.has("longitude") ?
+                    positionObject.get("longitude").getAsFloat() : 0.0f;
+
+            int floor = positionObject.has("floor") ?
+                    positionObject.get("floor").getAsInt() : 0;
+
+            WifiRecord record = new WifiRecord(relativeTimestamp, latitude, longitude, floor);
+            wifiList.add(record);
+        }
+    }
+    return wifiList;
+}
+/** Parses Fused Location data from JSON. */
+private static List<FusedRecord> parseFusedData(JsonArray fusedArray){
+    List<FusedRecord> fusedList = new ArrayList<>();
+    if (fusedArray == null) return fusedList;
+    Gson gson = new Gson();
+    for (int i = 0; i < fusedArray.size(); i++) {
+        FusedRecord record = gson.fromJson(fusedArray.get(i), FusedRecord.class);
+        fusedList.add(record);
+    }
+    return fusedList;
+}
+/** Parses Tag Location data from JSON. */
+private static List<TagRecord> parseTagData(JsonArray tagArray) {
+    List<TagRecord> tagList = new ArrayList<>();
+    if (tagArray == null) return tagList;
+
+    Gson gson = new Gson();
+    for (int i = 0; i < tagArray.size(); i++) {
+        TagRecord record = gson.fromJson(tagArray.get(i), TagRecord.class);
+        tagList.add(record);
+    }
+    return tagList;
+}
+
+
+/** Finds the closest IMU record to the given timestamp. */
 private static ImuRecord findClosestImuRecord(List<ImuRecord> imuList, long targetTimestamp) {
     return imuList.stream().min(Comparator.comparingLong(imu -> Math.abs(imu.relativeTimestamp - targetTimestamp)))
             .orElse(null);
@@ -239,7 +507,19 @@ private static GnssRecord findClosestGnssRecord(List<GnssRecord> gnssList, long
     return gnssList.stream().min(Comparator.comparingLong(gnss -> Math.abs(gnss.relativeTimestamp - targetTimestamp)))
             .orElse(null);
 
-}/** Computes the orientation from a rotation vector. */
+}
+
+/** Finds the closest WIFI record to the given timestamp. */
+private static WifiRecord findClosestWifiRecord(List<WifiRecord> wifiList, long targetTimestamp) {
+    return wifiList.stream().min(Comparator.comparingLong(wifi -> Math.abs(wifi.relativeTimestamp - targetTimestamp)))
+            .orElse(null);
+}
+/** Finds the closest Fused Location record to the given timestamp. */
+private static FusedRecord findClosestFusedRecord(List<FusedRecord> fusedList, long targetTimestamp) {
+    return fusedList.stream().min(Comparator.comparingLong(fused -> Math.abs(fused.relativeTimestamp - targetTimestamp)))
+            .orElse(null);
+}
+/** Computes the orientation from a rotation vector. */
 private static float computeOrientationFromRotationVector(float rx, float ry, float rz, float rw, Context context) {
     float[] rotationVector = new float[]{rx, ry, rz, rw};
     float[] rotationMatrix = new float[9];
diff --git a/app/src/main/java/com/openpositioning/PositionMe/data/remote/ServerCommunications.java b/app/src/main/java/com/openpositioning/PositionMe/data/remote/ServerCommunications.java
index 7f7e74b2..7452ce46 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/data/remote/ServerCommunications.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/data/remote/ServerCommunications.java
@@ -628,6 +628,7 @@ private void logDataSize(Traj.Trajectory trajectory) {
         Log.i("ServerCommunications", "Light Data size: " + trajectory.getLightDataCount());
         Log.i("ServerCommunications", "GNSS Data size: " + trajectory.getGnssDataCount());
         Log.i("ServerCommunications", "WiFi Data size: " + trajectory.getWifiDataCount());
+        Log.i("ServerCommunications", "Fused Data size: " + trajectory.getFusedPosCount());
         Log.i("ServerCommunications", "APS Data size: " + trajectory.getApsDataCount());
         Log.i("ServerCommunications", "PDR Data size: " + trajectory.getPdrDataCount());
     }
diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/activity/MainActivity.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/activity/MainActivity.java
index 995f010d..3277288b 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/activity/MainActivity.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/activity/MainActivity.java
@@ -1,11 +1,14 @@
 package com.openpositioning.PositionMe.presentation.activity;
 import android.Manifest;
+import android.content.Intent;
 import android.content.SharedPreferences;
 
 import android.content.pm.PackageManager;
+import android.net.Uri;
 import android.os.Build;
 import android.os.Bundle;
 import android.os.Handler;
+import android.provider.Settings;
 import android.view.Menu;
 import android.view.MenuItem;
 import android.widget.Toast;
@@ -138,6 +141,11 @@ protected void onCreate(Bundle savedInstanceState) {
 
         // Handler for global toasts and popups from other classes
         this.httpResponseHandler = new Handler();
+
+        // Check for overlay permission
+        if (!Settings.canDrawOverlays(this)) {
+            showOverlayPermissionDialog();
+        }
     }
 
 
@@ -326,8 +334,6 @@ public void onBackPressed() {
         }
     }
 
-
-
     //endregion
 
     //region Global toasts
@@ -352,7 +358,7 @@ public void update(Object[] objList) {
      * Called when {@link ServerCommunications} successfully uploads a trajectory.
      */
     private final Runnable displayToastTaskSuccess = () -> Toast.makeText(MainActivity.this,
-            "Trajectory uploaded", Toast.LENGTH_SHORT).show();
+            "Trajectory uploaded", Toast.LENGTH_SHORT                                                                                              ).show();
 
     /**
      * Task that displays negative toast on the main UI thread.
@@ -363,4 +369,67 @@ public void update(Object[] objList) {
     };
 
     //endregion
+
+    /**
+     * Processes the result of the overlay permission request.
+     * 
+     * This method handles the response from the system settings screen where the user
+     * either granted or denied the overlay permission. If granted, the app continues 
+     * normal execution. If denied, the user is informed that some features (specifically
+     * system-wide fall detection alerts) may not function properly.
+     * 
+     * @param requestCode The integer request code originally supplied to startActivityForResult().
+     *                    Identifies which activity result is being returned.
+     * @param resultCode  The integer result code returned by the child activity.
+     * @param data        An Intent which can return result data to the caller.
+     * 
+     * @author 
+     */
+    @Override
+    protected void onActivityResult(int requestCode, int resultCode, Intent data) {
+        super.onActivityResult(requestCode, resultCode, data);
+
+        if (requestCode == 1234) {
+            if (Settings.canDrawOverlays(this)) {
+                // Permission granted, continue with the app
+                Toast.makeText(this, "Permission granted!", Toast.LENGTH_SHORT).show();
+            } else {
+                // Permission denied, show a message
+                Toast.makeText(this, "Permission denied. Some features may not work.", Toast.LENGTH_LONG).show();
+            }
+        }
+    }
+
+    /**
+     * Displays a dialog requesting permission to draw overlays on the screen.
+     * 
+     * This method creates and shows an alert dialog informing the user about the need
+     * for overlay permission, which is required for the fall detection feature to display
+     * alerts even when the app is not in the foreground. The dialog cannot be dismissed
+     * without user interaction and provides a direct link to the system settings page
+     * where the permission can be granted.
+     * 
+     * The dialog includes:
+     * - An explanatory message about why the permission is needed
+     * - A button to navigate to the system settings screen
+     * - No option to dismiss without taking action (non-cancelable)
+     * 
+     * If the user clicks "Go to Settings", they are redirected to the system's
+     * overlay permission settings page specifically for this application.
+     * 
+     * @author Semih Vazgecen
+     */
+    private void showOverlayPermissionDialog() {
+        new AlertDialog.Builder(this)
+                .setTitle("Overlay Permission Needed")
+                .setMessage("This app needs permission to display overlays for fall detection. Please enable it in the settings.")
+                .setCancelable(false)
+                .setPositiveButton("Go to Settings", (dialog, which) -> {
+                    // Redirect user to the system settings to enable overlay permission
+                    Intent intent = new Intent(Settings.ACTION_MANAGE_OVERLAY_PERMISSION,
+                            Uri.parse("package:" + getPackageName()));
+                    startActivityForResult(intent, 1234);
+                })
+                .show();
+    }
 }
\ No newline at end of file
diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/activity/ReplayActivity.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/activity/ReplayActivity.java
index c6a30472..5912a5d2 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/activity/ReplayActivity.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/activity/ReplayActivity.java
@@ -9,7 +9,6 @@
 
 import com.openpositioning.PositionMe.R;
 import com.openpositioning.PositionMe.presentation.fragment.ReplayFragment;
-import com.openpositioning.PositionMe.presentation.fragment.StartLocationFragment;
 
 
 /**
@@ -33,7 +32,6 @@
  * The ReplayActivity manages the interaction between fragments by facilitating communication from the
  * StartLocationFragment to the ReplayFragment, where the replay of the trajectory is displayed.
  *
- * @see StartLocationFragment The fragment where the user selects their start location for the trajectory replay.
  * @see ReplayFragment The fragment responsible for showing the trajectory replay.
  *
  * @author Shu Gu
@@ -42,8 +40,6 @@
 public class ReplayActivity extends AppCompatActivity {
 
     public static final String TAG = "ReplayActivity";
-    public static final String EXTRA_INITIAL_LAT = "extra_initial_lat";
-    public static final String EXTRA_INITIAL_LON = "extra_initial_lon";
     public static final String EXTRA_TRAJECTORY_FILE_PATH = "extra_trajectory_file_path";
 
     private String filePath;
@@ -71,46 +67,19 @@ protected void onCreate(@Nullable Bundle savedInstanceState) {
             Log.i(TAG, "Trajectory file exists: " + filePath);
         }
 
-        // Show StartLocationFragment first to let user pick location
-        if (savedInstanceState == null) {
-            showStartLocationFragment();
-        }
-    }
-
-    /**
-     * Display a StartLocationFragment to let user set their start location.
-     * Displays the ReplayFragment and passes the trajectory file path as an argument.
-     */
-    private void showStartLocationFragment() {
-        Log.d(TAG, "Showing StartLocationFragment...");
-        StartLocationFragment startLocationFragment = new StartLocationFragment();
-        getSupportFragmentManager()
-                .beginTransaction()
-                .replace(R.id.replayActivityContainer, startLocationFragment)
-                .commit();
-    }
-
-    /**
-     * Called by StartLocationFragment when user picks their start location.
-     */
-    public void onStartLocationChosen(float lat, float lon) {
-        Log.i(TAG, "User selected start location: Lat=" + lat + ", Lon=" + lon);
-        showReplayFragment(filePath, lat, lon);
+        showReplayFragment(filePath);
     }
 
     /**
-     * Display ReplayFragment, passing file path and starting lat/lon as arguments.
+     * Display ReplayFragment, passing file path argument.
      */
-    public void showReplayFragment(String filePath, float initialLat, float initialLon) {
-        Log.d(TAG, "Switching to ReplayFragment with file: " + filePath +
-                ", Initial Lat: " + initialLat + ", Initial Lon: " + initialLon);
+    public void showReplayFragment(String filePath) {
+        Log.d(TAG, "Switching to ReplayFragment with file: " + filePath);
 
         ReplayFragment replayFragment = new ReplayFragment();
         // Pass the file path through a Bundle
         Bundle args = new Bundle();
         args.putString(EXTRA_TRAJECTORY_FILE_PATH, filePath);
-        args.putFloat(EXTRA_INITIAL_LAT, initialLat);
-        args.putFloat(EXTRA_INITIAL_LON, initialLon);
         replayFragment.setArguments(args);
 
         getSupportFragmentManager()
diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/RecordingFragment.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/RecordingFragment.java
index 6362a971..e24c9d2b 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/RecordingFragment.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/RecordingFragment.java
@@ -7,9 +7,12 @@
 import android.os.Bundle;
 import android.os.CountDownTimer;
 import android.os.Handler;
+import android.os.SystemClock;
+import android.util.Log;
 import android.view.LayoutInflater;
 import android.view.View;
 import android.view.ViewGroup;
+import android.widget.Toast;
 
 import android.view.animation.AlphaAnimation;
 import android.view.animation.Animation;
@@ -27,11 +30,20 @@
 
 import com.openpositioning.PositionMe.R;
 import com.openpositioning.PositionMe.presentation.activity.RecordingActivity;
+import com.openpositioning.PositionMe.sensors.ParticleAttribute;
 import com.openpositioning.PositionMe.sensors.SensorFusion;
 import com.openpositioning.PositionMe.sensors.SensorTypes;
 import com.openpositioning.PositionMe.utils.UtilFunctions;
 import com.google.android.gms.maps.model.LatLng;
 
+import java.util.ArrayList;
+import java.util.Arrays;
+import java.util.List;
+import java.util.Locale;
+
+import androidx.lifecycle.ViewModelProvider;
+import com.openpositioning.PositionMe.presentation.viewitems.SensorDataViewModel;
+
 
 /**
  * Fragment responsible for managing the recording process of trajectory data.
@@ -54,15 +66,18 @@
  * @see SensorTypes Enumeration of available sensor types.
  *
  * @author Shu Gu
+ * @author Sofea Jazlan Arif
+ * @author Stone Anderson
  */
 
 public class RecordingFragment extends Fragment {
 
     // UI elements
-    private MaterialButton completeButton, cancelButton;
+    private MaterialButton completeButton, cancelButton, addTagButton;
     private ImageView recIcon;
     private ProgressBar timeRemaining;
-    private TextView elevation, distanceTravelled, gnssError;
+    private TextView timer, elevation, distanceTravelled, gnssError, wifiError;
+    private TextView ekfAccuracyText, particleAccuracyText;
 
     // App settings
     private SharedPreferences settings;
@@ -71,6 +86,8 @@ public class RecordingFragment extends Fragment {
     private SensorFusion sensorFusion;
     private Handler refreshDataHandler;
     private CountDownTimer autoStop;
+    // Timer starts at 0
+    private int seconds = 0;
 
     // Distance tracking
     private float distance = 0f;
@@ -80,6 +97,13 @@ public class RecordingFragment extends Fragment {
     // References to the child map fragment
     private TrajectoryMapFragment trajectoryMapFragment;
 
+    // New: List to store EKF trajectory points
+    private List<LatLng> ekfTrajectoryPoints = new ArrayList<>();
+    private List<LatLng> particleTrajectoryPoints = new ArrayList<>();
+
+    private boolean hasRecordingWifiData=false;
+    private SensorDataViewModel sensorDataViewModel;
+
     private final Runnable refreshDataTask = new Runnable() {
         @Override
         public void run() {
@@ -93,6 +117,26 @@ public RecordingFragment() {
         // Required empty public constructor
     }
 
+    // Semih - NEW
+    /**
+     * Runnable task to update the timer every second.
+     * Formats the elapsed time as MM:SS and updates the UI.
+     */
+    private final Runnable timerRunnable = new Runnable() {
+        @Override
+        public void run() {
+            int minutes = seconds / 60;
+            int secs = seconds % 60;
+            String timeText = String.format(Locale.getDefault(), "%02d:%02d", minutes, secs);
+
+            timer.setText(timeText);
+            seconds++;
+
+            refreshDataHandler.postDelayed(this, 1000); // Runs every 1 second
+        }
+    };
+    // Semih - END
+
     @Override
     public void onCreate(Bundle savedInstanceState) {
         super.onCreate(savedInstanceState);
@@ -131,17 +175,25 @@ public void onViewCreated(@NonNull View view,
         }
 
         // Initialize UI references
+        timer = view.findViewById(R.id.timerText);
         elevation = view.findViewById(R.id.currentElevation);
         distanceTravelled = view.findViewById(R.id.currentDistanceTraveled);
         gnssError = view.findViewById(R.id.gnssError);
+        wifiError = view.findViewById(R.id.wifiError);
+        ekfAccuracyText = view.findViewById(R.id.ekfAccuracyText);
+        particleAccuracyText = view.findViewById(R.id.particleAccuracyText);
+
 
         completeButton = view.findViewById(R.id.stopButton);
         cancelButton = view.findViewById(R.id.cancelButton);
+        addTagButton = view.findViewById(R.id.addTagButton);
         recIcon = view.findViewById(R.id.redDot);
         timeRemaining = view.findViewById(R.id.timeRemainingBar);
 
         // Hide or initialize default values
+        timer.setText(getString(R.string.timer_format, "00", "00"));
         gnssError.setVisibility(View.GONE);
+        wifiError.setVisibility(View.GONE);
         elevation.setText(getString(R.string.elevation, "0"));
         distanceTravelled.setText(getString(R.string.meter, "0"));
 
@@ -149,6 +201,7 @@ public void onViewCreated(@NonNull View view,
         completeButton.setOnClickListener(v -> {
             // Stop recording & go to correction
             if (autoStop != null) autoStop.cancel();
+            sensorFusion.saveTagsToTrajectory();
             sensorFusion.stopRecording();
             // Show Correction screen
             ((RecordingActivity) requireActivity()).showCorrectionScreen();
@@ -180,6 +233,35 @@ public void onViewCreated(@NonNull View view,
 
             dialog.show(); // Finally, show the dialog
         });
+        
+        // Add Tag Button - adds the current position to the GNSS data array in the trajectory
+        addTagButton.setOnClickListener(v -> {
+            // Get current fused latitude, longitude, and altitude
+            LatLng latLng = sensorFusion.getEKFStateAsLatLng();
+            float latitude = (float) latLng.latitude;
+            float longitude = (float) latLng.longitude;
+            float altitude = sensorFusion.getElevation();
+            long relativeTimestamp = SystemClock.uptimeMillis() - sensorFusion.getBootTime();
+            
+            // Add tag data to trajectory using the same method that's used for GNSS data
+            sensorFusion.addTagToTrajectory(latitude, longitude, altitude, relativeTimestamp);
+            
+            // Provide feedback to the user
+            Toast.makeText(requireContext(), R.string.tag_added, Toast.LENGTH_SHORT).show();
+            
+            // Add a visual indicator on the map (optional)
+            LatLng tagLocation = new LatLng(latitude, longitude);
+            if (trajectoryMapFragment != null) {
+                trajectoryMapFragment.addTagMarker(tagLocation, relativeTimestamp);
+            }
+        });
+
+
+        sensorDataViewModel = new ViewModelProvider(requireActivity()).get(SensorDataViewModel.class);
+
+
+        // Timer updates every 1 second
+        refreshDataHandler.post(timerRunnable);
 
         // The blinking effect for recIcon
         blinkingRecordingIcon();
@@ -209,6 +291,8 @@ public void onFinish() {
             // No set time limit, just keep refreshing
             refreshDataHandler.post(refreshDataTask);
         }
+
+
     }
 
     /**
@@ -232,6 +316,8 @@ private void updateUIandPosition() {
         // Or simply pass relative data for the TrajectoryMapFragment to handle
         // For example:
         float[] latLngArray = sensorFusion.getGNSSLatitude(true);
+        //LatLng gnssLocation = new LatLng(gnss[0], gnss[1]);
+        Log.d("RecordingFragment", "sensorFusion.getGNSSLatitude returned: " + Arrays.toString(latLngArray));
         if (latLngArray != null) {
             LatLng oldLocation = trajectoryMapFragment.getCurrentLocation(); // or store locally
             LatLng newLocation = UtilFunctions.calculateNewPos(
@@ -249,21 +335,110 @@ private void updateUIandPosition() {
         // GNSS logic if you want to show GNSS error, etc.
         float[] gnss = sensorFusion.getSensorValueMap().get(SensorTypes.GNSSLATLONG);
         if (gnss != null && trajectoryMapFragment != null) {
+            sensorDataViewModel.setHasGnssData(true);
+            LatLng gnssLocation = new LatLng(gnss[0], gnss[1]);
+            trajectoryMapFragment.updateGNSS(gnssLocation);
             // If user toggles showing GNSS in the map, call e.g.
             if (trajectoryMapFragment.isGnssEnabled()) {
-                LatLng gnssLocation = new LatLng(gnss[0], gnss[1]);
                 LatLng currentLoc = trajectoryMapFragment.getCurrentLocation();
                 if (currentLoc != null) {
                     double errorDist = UtilFunctions.distanceBetweenPoints(currentLoc, gnssLocation);
                     gnssError.setVisibility(View.VISIBLE);
                     gnssError.setText(String.format(getString(R.string.gnss_error) + "%.2fm", errorDist));
                 }
-                trajectoryMapFragment.updateGNSS(gnssLocation);
+
             } else {
                 gnssError.setVisibility(View.GONE);
                 trajectoryMapFragment.clearGNSS();
             }
         }
+        else {
+            sensorDataViewModel.setHasGnssData(false);
+        }
+
+        /** // ----- Update Wifi mapping -----
+         * @author Stone Anderson
+         */
+
+        LatLng wifiLocation = sensorFusion.getLatLngWifiPositioning();
+        int floor = sensorFusion.getWifiFloor();
+        if (wifiLocation != null) {
+            trajectoryMapFragment.autoFloorHandler(floor); //
+        }
+        if (wifiLocation  != null) {
+            if (trajectoryMapFragment != null) {
+                sensorDataViewModel.setHasWifiData(true);
+                Log.d("WIFI DETECTION", "setRecordWifiMode called as true" );
+                trajectoryMapFragment.updateWifi(wifiLocation);
+            }
+        }
+        else {
+            if (trajectoryMapFragment != null) {
+                sensorDataViewModel.setHasWifiData(false);}
+
+        }
+
+
+        // Wifi logic if you want to show wifi error, etc.
+        LatLng wifi = sensorFusion.getLatLngWifiPositioning();
+        if (wifi != null && trajectoryMapFragment != null) {
+            if (trajectoryMapFragment.isWifiEnabled()) {
+                // Optionally compare with the current location or WiFi-specific location if available
+                LatLng currentLoc = trajectoryMapFragment.getCurrentLocation();
+                if (currentLoc != null) {
+                    double errorDist = UtilFunctions.distanceBetweenPoints(currentLoc, wifi);
+                    wifiError.setVisibility(View.VISIBLE);  // Assuming you have a TextView for WiFi error similar to gnssError
+                    wifiError.setText(String.format(getString(R.string.wifiError) + "%.2fm", errorDist));
+                }
+                trajectoryMapFragment.updateWifi(wifi);
+            } else {
+                wifiError.setVisibility(View.GONE);
+                trajectoryMapFragment.clearWifi();
+            }
+        }
+
+
+        /** // ----- Update EKF mapping -----
+         * @author Stone Anderson
+         */
+        LatLng ekfLocation = sensorFusion.getEKFStateAsLatLng(); // Get the latest EKF fused state [x, y]
+        if (ekfLocation != null) {
+            if (trajectoryMapFragment != null) {
+                trajectoryMapFragment.updateEKF(ekfLocation,(float) Math.toDegrees(sensorFusion.passOrientation()));
+            }
+            double ekfAccuracy = sensorFusion.getEKFPositionAccuracy(); // update EKF accuracy display
+            if (!Double.isNaN(ekfAccuracy)) {
+                ekfAccuracyText.setText(String.format(getString(R.string.ekf_accuracy), ekfAccuracy));
+            } else {
+                ekfAccuracyText.setText("EKF Accuracy: --");
+            }
+        }
+
+
+        /**
+         * Update Particle Trajectory
+         * Get the latest particle fused state (assumed to be an [x, y] coordinate in the same metric space)
+         *
+         * @author Sofea Jazlan Arif
+         */
+        ParticleAttribute particleAttribute = sensorFusion.updateParticle();
+        LatLng particleLocation = sensorFusion.getParticleStateAsLatLng(particleAttribute);
+        if (particleLocation != null) {
+            if (trajectoryMapFragment != null) {
+                trajectoryMapFragment.updateParticle(particleLocation, (float) Math.toDegrees(sensorFusion.passOrientation()));
+            }
+            
+            // Update Particle Filter accuracy display
+            double particleAccuracy = sensorFusion.getParticlePositionAccuracy();
+            if (!Double.isNaN(particleAccuracy)) {
+                //particleAccuracyText.setText(String.format(getString(R.string.particle_accuracy), particleAccuracy));
+                particleAccuracyText.setText("");
+            } else {
+                particleAccuracyText.setText("");
+                //particleAccuracyText.setText("Particle Accuracy: --");
+            }
+        }
+
 
         // Update previous
         previousPosX = pdrValues[0];
@@ -286,6 +461,8 @@ private void blinkingRecordingIcon() {
     public void onPause() {
         super.onPause();
         refreshDataHandler.removeCallbacks(refreshDataTask);
+        refreshDataHandler.removeCallbacks(timerRunnable);
+        seconds = 0;  // Reset the timer when paused
     }
 
     @Override
diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/ReplayFragment.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/ReplayFragment.java
index d15a4a83..d16e7d84 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/ReplayFragment.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/ReplayFragment.java
@@ -1,5 +1,6 @@
 package com.openpositioning.PositionMe.presentation.fragment;
 
+import android.graphics.Color;
 import android.os.Bundle;
 import android.os.Handler;
 import android.util.Log;
@@ -8,14 +9,15 @@
 import android.view.ViewGroup;
 import android.widget.Button;
 import android.widget.SeekBar;
+import android.widget.Toast;
 
 import androidx.annotation.NonNull;
 import androidx.annotation.Nullable;
-import androidx.appcompat.app.AlertDialog;
 import androidx.fragment.app.Fragment;
 
 import com.google.android.gms.maps.model.LatLng;
 import com.openpositioning.PositionMe.R;
+import com.openpositioning.PositionMe.Traj;
 import com.openpositioning.PositionMe.presentation.activity.ReplayActivity;
 import com.openpositioning.PositionMe.data.local.TrajParser;
 
@@ -23,6 +25,13 @@
 import java.util.ArrayList;
 import java.util.List;
 
+//// imports for graphs
+//import com.github.mikephil.charting.charts.LineChart;
+//import com.github.mikephil.charting.components.Description;
+//import com.github.mikephil.charting.data.Entry;
+//import com.github.mikephil.charting.data.LineData;
+//import com.github.mikephil.charting.data.LineDataSet;
+
 /**
  * Sub fragment of Replay Activity. Fragment that replays trajectory data on a map.
  * <p>
@@ -42,16 +51,15 @@
  * @see TrajParser Utility class for parsing trajectory data.
  *
  * @author Shu Gu
+ * @author Stone Anderson
+ * @author Semih Vazgecen
  */
 public class ReplayFragment extends Fragment {
 
     private static final String TAG = "ReplayFragment";
-
-    // GPS start location (received from ReplayActivity)
-    private float initialLat = 0f;
-    private float initialLon = 0f;
     private String filePath = "";
     private int lastIndex = -1;
+    private Traj.Trajectory trajectory;
 
     // UI Controls
     private TrajectoryMapFragment trajectoryMapFragment;
@@ -72,15 +80,11 @@ public void onCreate(@Nullable Bundle savedInstanceState) {
         // Retrieve transferred data from ReplayActivity
         if (getArguments() != null) {
             filePath = getArguments().getString(ReplayActivity.EXTRA_TRAJECTORY_FILE_PATH, "");
-            initialLat = getArguments().getFloat(ReplayActivity.EXTRA_INITIAL_LAT, 0f);
-            initialLon = getArguments().getFloat(ReplayActivity.EXTRA_INITIAL_LON, 0f);
         }
 
         // Log the received data
         Log.i(TAG, "ReplayFragment received data:");
         Log.i(TAG, "Trajectory file path: " + filePath);
-        Log.i(TAG, "Initial latitude: " + initialLat);
-        Log.i(TAG, "Initial longitude: " + initialLon);
 
         // Check if file exists before parsing
         File trajectoryFile = new File(filePath);
@@ -96,13 +100,20 @@ public void onCreate(@Nullable Bundle savedInstanceState) {
         Log.i(TAG, "Trajectory file confirmed to exist and is readable.");
 
         // Parse the JSON file and prepare replayData using TrajParser
-        replayData = TrajParser.parseTrajectoryData(filePath, requireContext(), initialLat, initialLon);
+        replayData = TrajParser.parseTrajectoryData(filePath, requireContext());
 
         // Log the number of parsed points
         if (replayData != null && !replayData.isEmpty()) {
             Log.i(TAG, "Trajectory data loaded successfully. Total points: " + replayData.size());
         } else {
             Log.e(TAG, "Failed to load trajectory data! replayData is empty or null.");
+            // Show a Toast error message
+            Toast.makeText(getContext(), "Unable to load replay data.\nThe file may be empty or corrupted!", Toast.LENGTH_LONG).show();
+
+            // Return to the previous activity
+            if (getActivity() != null) {
+                getActivity().finish();
+            }
         }
     }
 
@@ -120,6 +131,8 @@ public void onViewCreated(@NonNull View view,
                               @Nullable Bundle savedInstanceState) {
         super.onViewCreated(view, savedInstanceState);
 
+        boolean hasWifiData = hasAnyWifiData(replayData);
+
         // Initialize map fragment
         trajectoryMapFragment = (TrajectoryMapFragment)
                 getChildFragmentManager().findFragmentById(R.id.replayMapFragmentContainer);
@@ -129,24 +142,34 @@ public void onViewCreated(@NonNull View view,
                     .beginTransaction()
                     .replace(R.id.replayMapFragmentContainer, trajectoryMapFragment)
                     .commit();
+            trajectoryMapFragment.setReplayMode(true, hasWifiData);
+            
+            // Set visualization switches to on by default
+            trajectoryMapFragment.setDefaultSwitchStates(true, true, true);
+            
+            // Delay loading tag markers until fragment transactions are complete
+            getChildFragmentManager().executePendingTransactions();
         }
+        
+        // Load tag markers when replay starts
+        loadTagMarkersFromTrajectory();
 
 
-
-        // 1) Check if the file contains any GNSS data
-        boolean gnssExists = hasAnyGnssData(replayData);
-
-        if (gnssExists) {
-            showGnssChoiceDialog();
-        } else {
-            // No GNSS data -> automatically use param lat/lon
-            if (initialLat != 0f || initialLon != 0f) {
-                LatLng startPoint = new LatLng(initialLat, initialLon);
-                Log.i(TAG, "Setting initial map position: " + startPoint.toString());
-                trajectoryMapFragment.setInitialCameraPosition(startPoint);
+        // Get the initial position from first ReplayPoint
+        if (!replayData.isEmpty()) {
+            LatLng initialPos = replayData.get(0).initialPosition;
+            if (initialPos != null) {
+                Log.i(TAG, "Extracted Initial Position from ReplayPoint: " + initialPos.latitude + ", " + initialPos.longitude);
+            } else {
+                Log.e(TAG, "Initial Position is null in ReplayPoint!");
             }
+
+            setupInitialMapPosition(initialPos.latitude, initialPos.longitude);
         }
 
+
+
+
         // Initialize UI controls
         playPauseButton = view.findViewById(R.id.playPauseButton);
         restartButton   = view.findViewById(R.id.restartButton);
@@ -159,6 +182,35 @@ public void onViewCreated(@NonNull View view,
             playbackSeekBar.setMax(replayData.size() - 1);
         }
 
+        // Make sure initial frame is displayed immediately
+        if (!replayData.isEmpty()) {
+            // Initialize with the first frame
+            updateMapForIndex(0);
+            
+            // Get the first point with WiFi data to initialize floor
+            boolean foundWifiData = false;
+            for (TrajParser.ReplayPoint point : replayData) {
+                if (point.wifiLocation != null) {
+                    Log.i(TAG, "Found initial WiFi point with floor: " + point.wifiFloor);
+                    // First try to initialize map with normal approach
+                    trajectoryMapFragment.autoFloorHandler(point.wifiFloor);
+                    
+                    // Also force the indoor map to initialize - this is needed because 
+                    // the current location might not yet be recognized as inside the building
+                    trajectoryMapFragment.forceIndoorMap("nucleus", point.wifiFloor);
+                    
+                    foundWifiData = true;
+                    break;
+                }
+            }
+            
+            // If no WiFi data was found, still try to initialize with a default
+            if (!foundWifiData) {
+                Log.i(TAG, "No WiFi data found, using default floor 0");
+                trajectoryMapFragment.forceIndoorMap("nucleus", 0);
+            }
+        }
+
         // Button Listeners
         playPauseButton.setOnClickListener(v -> {
             if (replayData.isEmpty()) {
@@ -224,13 +276,9 @@ public void onProgressChanged(SeekBar seekBar, int progress, boolean fromUser) {
             @Override public void onStopTrackingTouch(SeekBar seekBar) {}
         });
 
-        if (!replayData.isEmpty()) {
-            updateMapForIndex(0);
-        }
+        // Removed this duplicate call as we already call updateMapForIndex(0) earlier
     }
 
-
-
     /**
      * Checks if any ReplayPoint contains a non-null gnssLocation.
      */
@@ -243,42 +291,33 @@ private boolean hasAnyGnssData(List<TrajParser.ReplayPoint> data) {
         return false;
     }
 
-
     /**
-     * Show a simple dialog asking user to pick:
-     * 1) GNSS from file
-     * 2) Lat/Lon from ReplayActivity arguments
+     * Determines if any WiFi location data exists in the replay trajectory.
+     * @param data list of ReplayPoint objects representing the trajectory
+     * @return true if at least one point contains WiFi location data, false otherwise
+     * 
+     * @author Stone Anderson
      */
-    private void showGnssChoiceDialog() {
-        new AlertDialog.Builder(requireContext())
-                .setTitle("Choose Starting Location")
-                .setMessage("GNSS data is found in the file. Would you like to use the file's GNSS as the start, or the one you manually picked?")
-                .setPositiveButton("Use File's GNSS", (dialog, which) -> {
-                    LatLng firstGnss = getFirstGnssLocation(replayData);
-                    if (firstGnss != null) {
-                        setupInitialMapPosition((float) firstGnss.latitude, (float) firstGnss.longitude);
-                    } else {
-                        // Fallback if no valid GNSS found
-                        setupInitialMapPosition(initialLat, initialLon);
-                    }
-                    dialog.dismiss();
-                })
-                .setNegativeButton("Use Manual Set", (dialog, which) -> {
-                    setupInitialMapPosition(initialLat, initialLon);
-                    dialog.dismiss();
-                })
-                .setCancelable(false)
-                .show();
+    private boolean hasAnyWifiData(List<TrajParser.ReplayPoint> data) {
+        for (TrajParser.ReplayPoint point : data) {
+            if (point.wifiLocation != null) {
+                return true;
+            }
+        }
+        return false;
     }
 
-    private void setupInitialMapPosition(float latitude, float longitude) {
-        LatLng startPoint = new LatLng(initialLat, initialLon);
+
+    private void setupInitialMapPosition(double latitude, double longitude) {
+        LatLng startPoint = new LatLng(latitude, longitude);
         Log.i(TAG, "Setting initial map position: " + startPoint.toString());
         trajectoryMapFragment.setInitialCameraPosition(startPoint);
     }
 
     /**
      * Retrieve the first available GNSS location from the replay data.
+     * Currently not used - but might be needed for later functionality
+     * @author Stone Anderson
      */
     private LatLng getFirstGnssLocation(List<TrajParser.ReplayPoint> data) {
         for (TrajParser.ReplayPoint point : data) {
@@ -290,6 +329,66 @@ private LatLng getFirstGnssLocation(List<TrajParser.ReplayPoint> data) {
     }
 
 
+    /**
+     * Retrieves the first valid WiFi location from the trajectory data.
+     * @param data The list of ReplayPoint objects to search for WiFi location data
+     * @return The first WiFi location as a LatLng object, or null if no WiFi data is found
+     * Currently not in use - but might be needed for later functionality
+     * 
+     * @author Stone Anderson
+     */
+    private LatLng getFirstWifiLocation(List<TrajParser.ReplayPoint> data) {
+        for (TrajParser.ReplayPoint point : data) {
+            if (point.wifiLocation != null) {
+                return new LatLng(replayData.get(0).wifiLocation.latitude, replayData.get(0).wifiLocation.longitude);
+            }
+        }
+        return null; // None found
+    }
+
+
+
+    /**
+     * Loads and displays tag markers from the trajectory data onto the map.
+     * 
+     * This method retrieves all tag markers that were created during the recording
+     * session and adds them to the map visualization. Tags represent points of interest
+     * that were manually marked by the user during recording and contain geographic
+     * coordinates and timestamps.
+     * 
+     * The method performs the following steps:
+     * 1. Retrieves the parsed tag records from the TrajParser
+     * 2. Checks if any tags exist in the trajectory
+     * 3. Verifies the map fragment is properly initialized
+     * 4. Iterates through each tag and adds it to the map at its specified position
+     * 
+     * If no tags are found or the map fragment isn't initialized, appropriate warning
+     * messages are logged and the method exits without making changes.
+     * 
+     * @author Semih Vazgecen
+     */
+    private void loadTagMarkersFromTrajectory() {
+        List<TrajParser.TagRecord> parsedTags = TrajParser.getTagMarkers();
+
+        if (parsedTags == null || parsedTags.isEmpty()) {
+            Log.w("ReplayFragment", "No tag markers found.");
+            return;
+        }
+        
+        // Check if trajectoryMapFragment is initialized
+        if (trajectoryMapFragment == null) {
+            Log.e("ReplayFragment", "trajectoryMapFragment is null, cannot add tag markers");
+            return;
+        }
+
+        for (TrajParser.TagRecord tag : parsedTags) {
+            LatLng tagPosition = new LatLng(tag.latitude, tag.longitude);
+            trajectoryMapFragment.addTagMarker(tagPosition, tag.relativeTimestamp);
+        }
+    }
+
+
+
     /**
      * Runnable for playback of trajectory data.
      * This runnable is called repeatedly to update the map with the next point in the replayData list.
@@ -337,6 +436,13 @@ private void updateMapForIndex(int newIndex) {
                 if (p.gnssLocation != null) {
                     trajectoryMapFragment.updateGNSS(p.gnssLocation);
                 }
+                if (p.wifiLocation != null) {
+                    trajectoryMapFragment.updateWifi(p.wifiLocation);
+                    trajectoryMapFragment.autoFloorHandler(p.wifiFloor);
+                }
+                if(p.fusedLocation != null){
+                    trajectoryMapFragment.updateEKF(p.fusedLocation, p.orientation);
+                }
             }
         } else {
             // Normal sequential forward step: add just the new point
@@ -345,6 +451,15 @@ private void updateMapForIndex(int newIndex) {
             if (p.gnssLocation != null) {
                 trajectoryMapFragment.updateGNSS(p.gnssLocation);
             }
+            if (p.wifiLocation != null) {
+                // Log.d(TAG, "ReplayPoint has WiFi data: " + p.wifiLocation.toString());
+                trajectoryMapFragment.updateWifi(p.wifiLocation);
+                trajectoryMapFragment.autoFloorHandler(p.wifiFloor);
+            }
+            if(p.fusedLocation != null){
+                trajectoryMapFragment.updateEKF(p.fusedLocation, p.orientation);
+            }
+
         }
 
         lastIndex = newIndex;
@@ -357,6 +472,7 @@ public void onPause() {
         playbackHandler.removeCallbacks(playbackRunnable);
     }
 
+
     @Override
     public void onDestroyView() {
         super.onDestroyView();
diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/StartLocationFragment.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/StartLocationFragment.java
index ee14f69f..9cdb05fb 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/StartLocationFragment.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/StartLocationFragment.java
@@ -1,6 +1,7 @@
 package com.openpositioning.PositionMe.presentation.fragment;
 
 import android.os.Bundle;
+import android.util.Log;
 import android.view.LayoutInflater;
 import android.view.View;
 import android.view.ViewGroup;
@@ -20,7 +21,6 @@
 import com.google.android.gms.maps.model.MarkerOptions;
 import com.openpositioning.PositionMe.R;
 import com.openpositioning.PositionMe.presentation.activity.RecordingActivity;
-import com.openpositioning.PositionMe.presentation.activity.ReplayActivity;
 import com.openpositioning.PositionMe.sensors.SensorFusion;
 import com.openpositioning.PositionMe.utils.NucleusBuildingManager;
 
@@ -72,8 +72,17 @@ public View onCreateView(LayoutInflater inflater, ViewGroup container,
         }
         View rootView = inflater.inflate(R.layout.fragment_startlocation, container, false);
 
-        // Obtain the start position from the GPS data from the SensorFusion class
-        startPosition = sensorFusion.getGNSSLatitude(false);
+        // Obtain the start position either from WIFI or GNSS data from the SensorFusion class
+        LatLng wifistartPos = sensorFusion.getLatLngWifiPositioning(); // Get the position once
+        if (wifistartPos != null) { // Check if it's not null
+            Log.d("StartLocationFragment", "Start Wifi Location: " + wifistartPos);
+            startPosition[0] = (float) wifistartPos.latitude;
+            startPosition[1] = (float) wifistartPos.longitude;
+        } else {
+            Log.d("StartLocationFragment", "WIFI Positioning is null, trying GNSS");
+            startPosition = sensorFusion.getGNSSLatitude(false);
+        }
+
         // If no location found, zoom the map out
         if (startPosition[0] == 0 && startPosition[1] == 0) {
             zoom = 1f;
@@ -164,26 +173,22 @@ public void onViewCreated(@NonNull View view, @Nullable Bundle savedInstanceStat
              */
             @Override
             public void onClick(View view) {
-                float chosenLat = startPosition[0];
-                float chosenLon = startPosition[1];
-
                 // If the Activity is RecordingActivity
                 if (requireActivity() instanceof RecordingActivity) {
                     // Start sensor recording + set the start location
-                    sensorFusion.startRecording();
                     sensorFusion.setStartGNSSLatitude(startPosition);
+                    sensorFusion.startRecording();
+
+                    // Semih - ADD
+                    // Write the initial position (latitude, longitude) to the trajectory
+                    sensorFusion.writeInitialPositionToTraj(startPosition[0], startPosition[1]);
+                    // Semih - END
 
                     // Now switch to the recording screen
                     ((RecordingActivity) requireActivity()).showRecordingScreen();
-
-                    // If the Activity is ReplayActivity
-                } else if (requireActivity() instanceof ReplayActivity) {
-                    // *Do not* cast to RecordingActivity here
-                    // Just call the Replay method
-                    ((ReplayActivity) requireActivity()).onStartLocationChosen(chosenLat, chosenLon);
-
-                    // Otherwise (unexpected host)
-                } else {
+                }
+                else {
+                 /**/
                     // Optional: log or handle error
                     // Log.e("StartLocationFragment", "Unknown host Activity: " + requireActivity());
                 }
@@ -204,3 +209,5 @@ private void switchFloorNU(int floorIndex) {
         }
     }
 }
+
+
diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java
index eb0bad65..e924e147 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/fragment/TrajectoryMapFragment.java
@@ -1,15 +1,23 @@
 package com.openpositioning.PositionMe.presentation.fragment;
 
 import android.graphics.Color;
+import android.graphics.Point;
 import android.os.Bundle;
+import android.os.Handler;
+import android.os.Looper;
 import android.util.Log;
+import android.util.TypedValue;
 import android.view.LayoutInflater;
 import android.view.View;
 import android.view.ViewGroup;
 import android.widget.AdapterView;
 import android.widget.ArrayAdapter;
-import android.widget.Button;
+import android.widget.ImageView;
 import android.widget.Spinner;
+
+import com.google.android.gms.maps.Projection;
+import com.google.android.material.card.MaterialCardView;
+import com.google.android.material.floatingactionbutton.FloatingActionButton;
 import com.google.android.material.switchmaterial.SwitchMaterial;
 
 import androidx.annotation.NonNull;
@@ -18,7 +26,10 @@
 
 import com.google.android.gms.maps.OnMapReadyCallback;
 import com.openpositioning.PositionMe.R;
+import com.openpositioning.PositionMe.presentation.activity.RecordingActivity;
+import com.openpositioning.PositionMe.presentation.viewitems.SensorDataViewModel;
 import com.openpositioning.PositionMe.sensors.SensorFusion;
+import com.openpositioning.PositionMe.utils.BuildingPolygon;
 import com.openpositioning.PositionMe.utils.IndoorMapManager;
 import com.openpositioning.PositionMe.utils.UtilFunctions;
 import com.google.android.gms.maps.CameraUpdateFactory;
@@ -29,6 +40,8 @@
 import java.util.ArrayList;
 import java.util.List;
 
+import androidx.lifecycle.ViewModelProvider;
+
 
 /**
  * A fragment responsible for displaying a trajectory map using Google Maps.
@@ -44,28 +57,55 @@
  * - Includes indoor mapping with floor selection and auto-floor adjustments.
  * - Allows user interaction through map controls and UI elements.
  *
- * @see com.openpositioning.PositionMe.presentation.activity.RecordingActivity The activity hosting this fragment.
- * @see com.openpositioning.PositionMe.utils.IndoorMapManager Utility for managing indoor map overlays.
- * @see com.openpositioning.PositionMe.utils.UtilFunctions Utility functions for UI and graphics handling.
+ * @see RecordingActivity The activity hosting this fragment.
+ * @see IndoorMapManager Utility for managing indoor map overlays.
+ * @see UtilFunctions Utility functions for UI and graphics handling.
  *
  * @author Mate Stodulka
+ * @author Stone Anderson
+ * @author Sofea Jazlan Arif
  */
 
 public class TrajectoryMapFragment extends Fragment {
 
     private GoogleMap gMap; // Google Maps instance
     private LatLng currentLocation; // Stores the user's current location
-    private Marker orientationMarker; // Marker representing user's heading
+    private Marker pdrMarker; // Marker representing user's heading
     private Marker gnssMarker; // GNSS position marker
+    private Marker wifiMarker; // WIFI position marker
+    private Marker ekfMarker;
+    private Marker particleMarker;
+    private ImageView deleteTagButton;
+    private Marker selectedMarker;
     private Polyline polyline; // Polyline representing user's movement path
     private boolean isRed = true; // Tracks whether the polyline color is red
-    private boolean isGnssOn = false; // Tracks if GNSS tracking is enabled
+    private boolean isGnssOn = true; // Tracks if GNSS tracking is enabled
+    private boolean isWifiOn = true; // Tracks if WiFi tracking is enabled 
+    private boolean isPdrOn = true; // Tracks if PDR tracking is enabled
 
     private Polyline gnssPolyline; // Polyline for GNSS path
+    private Polyline pdrPolyline;
+
+    private Polyline ekfPolyline;
+    private Polyline particlePolyline;
+    private Polyline wifiPolyline; // Polyline for Wifi path
     private LatLng lastGnssLocation = null; // Stores the last GNSS location
+    private LatLng lastWifiLocation = null; // Stores the last Wifi location
+    private int wifiFloor;
+    private boolean isReplayMode = false;
+
+    private boolean hasReplayWifiData = true;
+
+
+    private LatLng lastEKFLocation = null;
+    private LatLng lastParticleLocation = null;
 
     private LatLng pendingCameraPosition = null; // Stores pending camera movement
     private boolean hasPendingCameraMove = false; // Tracks if camera needs to move
+    
+    // List to store tag markers
+    private List<Marker> tagMarkers = new ArrayList<>();
+    private List<MarkerOptions> pendingMarkers = new ArrayList<>();
 
     private IndoorMapManager indoorMapManager; // Manages indoor mapping
     private SensorFusion sensorFusion;
@@ -75,12 +115,21 @@ public class TrajectoryMapFragment extends Fragment {
     private Spinner switchMapSpinner;
 
     private SwitchMaterial gnssSwitch;
+
+    private SwitchMaterial wifiSwitch;
+    private SwitchMaterial pdrSwitch;
     private SwitchMaterial autoFloorSwitch;
 
-    private com.google.android.material.floatingactionbutton.FloatingActionButton floorUpButton, floorDownButton;
-    private Button switchColorButton;
+    private FloatingActionButton floorUpButton, floorDownButton;
     private Polygon buildingPolygon;
 
+    FloatingActionButton toggleButton;
+    MaterialCardView controlPanel;
+    boolean isPanelVisible = false; // Tracks visibility state
+    private SensorDataViewModel sensorDataViewModel;
+
+    private static final int MAX_POLYLINE_POINT = 30; // CHANGE THIS AS NEEDED ~
+
 
     public TrajectoryMapFragment() {
         // Required empty public constructor
@@ -100,17 +149,80 @@ public void onViewCreated(@NonNull View view,
                               @Nullable Bundle savedInstanceState) {
         super.onViewCreated(view, savedInstanceState);
 
+
+
         // Grab references to UI controls
         switchMapSpinner = view.findViewById(R.id.mapSwitchSpinner);
         gnssSwitch      = view.findViewById(R.id.gnssSwitch);
+        wifiSwitch      = view.findViewById(R.id.wifiSwitch);
+        pdrSwitch      = view.findViewById(R.id.pdrSwitch);
         autoFloorSwitch = view.findViewById(R.id.autoFloor);
         floorUpButton   = view.findViewById(R.id.floorUpButton);
         floorDownButton = view.findViewById(R.id.floorDownButton);
-        switchColorButton = view.findViewById(R.id.lineColorButton);
+        deleteTagButton = new ImageView(requireContext());
+        deleteTagButton.setImageResource(R.drawable.ic_trash); // Use a delete icon
+        deleteTagButton.setVisibility(View.GONE); // Initially hide
+        deleteTagButton.setLayoutParams(new ViewGroup.LayoutParams(100, 100)); // Size in pixels
+
+        // Add the button to the parent layout
+        ((ViewGroup) view).addView(deleteTagButton);
+
+        // Set click listener for deleting tag
+        deleteTagButton.setOnClickListener(v -> removeSelectedTag());
+
+        // References for dropdown menu components
+        FloatingActionButton togglePanelButton = view.findViewById(R.id.togglePanelButton);
+        MaterialCardView controlPanel = view.findViewById(R.id.controlPanel);
 
         // Setup floor up/down UI hidden initially until we know there's an indoor map
         setFloorControlsVisibility(View.GONE);
 
+        // Ultra simple setup with minimal overhead
+        controlPanel.setVisibility(View.GONE); // Start hidden
+        
+        // Simple toggle with minimal processing
+        togglePanelButton.setOnClickListener(v -> {
+            // Check current visibility state
+            boolean isVisible = controlPanel.getVisibility() == View.VISIBLE;
+            
+            if (isVisible) {
+                // If visible, just hide it immediately
+                controlPanel.setVisibility(View.GONE);
+            } else {
+                // If hidden, show it with minimal delay
+                showControlPanel(controlPanel, togglePanelButton);
+                
+                // Auto-hide after 8 seconds
+                new Handler(Looper.getMainLooper()).postDelayed(() -> {
+                    controlPanel.setVisibility(View.GONE);
+                }, 8000);
+            }
+        });
+
+        /**
+         * No Coverage Detection for both wifi and gnss
+         * Controlling wifi and gnss switch based on data availability
+         * @author Stone Anderson
+         */
+        // To track wifi
+        sensorDataViewModel = new ViewModelProvider(requireActivity()).get(SensorDataViewModel.class);
+
+        // Observe WiFi status changes
+        sensorDataViewModel.getHasWifiData().observe(getViewLifecycleOwner(), hasWifi -> {
+            if (hasWifi) {      setWifiSwitchEnabled(true);
+                setAutoFloorSwitchEnabled(true);
+            } else {            setWifiSwitchEnabled(false);
+                setAutoFloorSwitchEnabled(false);}
+        });
+
+        // Observe GNSS location
+        sensorDataViewModel.getHasGnssData().observe(getViewLifecycleOwner(), hasGnss -> {
+            if (hasGnss) {      setGnssSwitchEnabled(true);
+            } else {            setGnssSwitchEnabled(false);
+                Log.d("GNSS", "onMapReady: Map is ready!");
+            }
+        });
+
         // Initialize the map asynchronously
         SupportMapFragment mapFragment = (SupportMapFragment)
                 getChildFragmentManager().findFragmentById(R.id.trajectoryMap);
@@ -131,9 +243,30 @@ public void onMapReady(@NonNull GoogleMap googleMap) {
                     }
 
                     drawBuildingPolygon();
+                    
+                    // Add building outlines for indoor maps
+                    if (indoorMapManager != null) {
+                        indoorMapManager.setIndicationOfIndoorMap();
+                    }
 
                     Log.d("TrajectoryMapFragment", "onMapReady: Map is ready!");
 
+                    processPendingMarkers(); // Add any markers that were queued
+
+                    gMap.setOnMarkerClickListener(marker -> {
+                        if (tagMarkers.contains(marker)) { // Only show for tag markers
+                            selectedMarker = marker;
+                            showDeleteButton(marker);
+                            return true;
+                        }
+                        return false;
+                    });
+
+                    // Hide delete button when clicking outside markers
+                    gMap.setOnMapClickListener(latLng -> {
+                        deleteTagButton.setVisibility(View.GONE);
+                        selectedMarker = null;
+                    });
 
                 }
             });
@@ -142,39 +275,69 @@ public void onMapReady(@NonNull GoogleMap googleMap) {
         // Map type spinner setup
         initMapTypeSpinner();
 
-        // GNSS Switch
-        gnssSwitch.setOnCheckedChangeListener((buttonView, isChecked) -> {
-            isGnssOn = isChecked;
-            if (!isChecked && gnssMarker != null) {
-                gnssMarker.remove();
-                gnssMarker = null;
+
+        /**
+         * Functionality for switches for wifi, gnss and pdr
+         * @author Stone Anderson, Semih Vazgecen
+         */
+
+        // If no Wifi in the trajectory replayed, disable the switches
+        if (isReplayMode && !hasReplayWifiData) {
+            setWifiSwitchEnabled(false);
+            setAutoFloorSwitchEnabled(false);
+        }
+        
+        // Set initial switch states to match default boolean values
+        if (gnssSwitch != null) gnssSwitch.setChecked(isGnssOn);
+        if (wifiSwitch != null) wifiSwitch.setChecked(isWifiOn);
+        if (pdrSwitch != null) pdrSwitch.setChecked(isPdrOn);
+        if (autoFloorSwitch != null) autoFloorSwitch.setChecked(true); // Enable auto floor by default
+        // Semih - END
+
+
+        // Wifi Switch
+        wifiSwitch.setOnCheckedChangeListener((buttonView, isChecked) -> {
+            isWifiOn = isChecked;
+            if (wifiMarker != null) {
+                wifiMarker.setVisible(isChecked);
+                wifiPolyline.setVisible(isChecked);
             }
         });
 
-        // Color switch
-        switchColorButton.setOnClickListener(v -> {
-            if (polyline != null) {
-                if (isRed) {
-                    switchColorButton.setBackgroundColor(Color.BLACK);
-                    polyline.setColor(Color.BLACK);
-                    isRed = false;
-                } else {
-                    switchColorButton.setBackgroundColor(Color.RED);
-                    polyline.setColor(Color.RED);
-                    isRed = true;
-                }
+        // PDR switch
+        pdrSwitch.setOnCheckedChangeListener((buttonView, isChecked) -> {
+            isPdrOn = isChecked;
+            if (pdrMarker != null) {
+                pdrMarker.setVisible(isChecked);
+                pdrPolyline.setVisible(isChecked);
             }
         });
 
-        // Floor up/down logic
+        // GNSS switch
+        gnssSwitch.setOnCheckedChangeListener((buttonView, isChecked) -> {
+            isGnssOn = isChecked;
+            if (gnssMarker != null) {
+                gnssMarker.setVisible(isChecked);
+                gnssPolyline.setVisible(isChecked);
+            }
+        });
+
+        /**
+         * Functionality for map matching for floors
+         * @author Semih Vazgecen
+         */
+        // Set the floor view based on the floor data captured from Wifi positioning
         autoFloorSwitch.setOnCheckedChangeListener((compoundButton, isChecked) -> {
+            if (isChecked) {
+                indoorMapManager.setCurrentFloor(wifiFloor, true);
 
-            //TODO - fix the sensor fusion method to get the elevation (cannot get it from the current method)
-//            float elevationVal = sensorFusion.getElevation();
-//            indoorMapManager.setCurrentFloor((int)(elevationVal/indoorMapManager.getFloorHeight())
-//                    ,true);
+            } else {
+                wifiFloor = 0;
+                indoorMapManager.setCurrentFloor(wifiFloor, true);
+            }
         });
 
+        // Floor up/down logic
         floorUpButton.setOnClickListener(v -> {
             // If user manually changes floor, turn off auto floor
             autoFloorSwitch.setChecked(false);
@@ -191,6 +354,51 @@ public void onMapReady(@NonNull GoogleMap googleMap) {
         });
     }
 
+    /**
+     * Displays the control panel with a staged approach to minimize UI thread lag.
+     * 
+     * This method implements a simplified, low-overhead approach to showing the control panel
+     * by avoiding animations and complex transitions that might cause lag on the UI thread.
+     * The panel is first set to invisible (but present in the layout) and then made visible
+     * after a small delay, allowing the UI thread to process the change in stages.
+     * 
+     * @param controlPanel The MaterialCardView control panel to be displayed
+     * @param toggleButton The FloatingActionButton that toggles the panel (not used directly
+     *                    in this implementation, but maintained for interface compatibility)
+     *                    
+     * @author Semih Vazgecen
+     */
+    private void showControlPanel(MaterialCardView controlPanel, FloatingActionButton toggleButton) {
+        // First just make the panel invisible but present (no animation)
+        controlPanel.setVisibility(View.INVISIBLE);
+        
+        // Wait for the next UI cycle before showing the panel
+        new Handler(Looper.getMainLooper()).postDelayed(() -> {
+            // Simply make it visible - no animation at all to avoid lag
+            controlPanel.setVisibility(View.VISIBLE);
+        }, 50); // 50ms delay is barely noticeable but gives the UI thread time to process
+    }
+
+    /**
+     * Hides the control panel with a direct approach to minimize UI thread lag.
+     * 
+     * This method implements a zero-overhead approach to hiding the control panel
+     * by immediately setting it to GONE without any animations or transitions.
+     * This approach avoids potential lag on the UI thread that might occur with
+     * more complex transitions, especially on lower-end devices.
+     * 
+     * @param controlPanel The MaterialCardView control panel to be hidden
+     * @param toggleButton The FloatingActionButton that toggles the panel (not used directly
+     *                    in this implementation, but maintained for interface compatibility)
+     *                    
+     * @author Semih Vazgecen
+     */
+    private void hideControlPanel(MaterialCardView controlPanel, FloatingActionButton toggleButton) {
+        // Just hide it immediately - no animation to avoid lag
+        controlPanel.setVisibility(View.GONE);
+    }
+    // Semih - END
+
     /**
      * Initialize the map settings with the provided GoogleMap instance.
      * <p>
@@ -200,6 +408,7 @@ public void onMapReady(@NonNull GoogleMap googleMap) {
      *     The method sets the map type to Hybrid and initializes the map with these settings.
      *
      * @param map
+     * @author Stone Anderson - added aditional (i.e. pdr, Wifi, EKF) polylines
      */
 
     private void initMapSettings(GoogleMap map) {
@@ -213,19 +422,53 @@ private void initMapSettings(GoogleMap map) {
         // Initialize indoor manager
         indoorMapManager = new IndoorMapManager(map);
 
-        // Initialize an empty polyline
-        polyline = map.addPolyline(new PolylineOptions()
+
+
+        // Initialize Pdr polyline
+        pdrPolyline = map.addPolyline(new PolylineOptions()
                 .color(Color.RED)
                 .width(5f)
+                .zIndex(2f)
                 .add() // start empty
         );
 
+
         // GNSS path in blue
         gnssPolyline = map.addPolyline(new PolylineOptions()
                 .color(Color.BLUE)
                 .width(5f)
+                .zIndex(2f)
                 .add() // start empty
         );
+
+        // ekf path in gray
+        ekfPolyline = map.addPolyline(new PolylineOptions()
+                .color(Color.GREEN)
+                .width(5f)
+                .zIndex(2f)
+                .add() // start empty
+        );
+
+        // particle path in gray
+        particlePolyline = map.addPolyline(new PolylineOptions()
+                .color(Color.rgb(255, 165,0))
+                .width(5f)
+                .zIndex(2f)
+                .add() // start empty
+        );
+        particlePolyline.setVisible(false);
+
+
+
+        // Wifi path in yellow
+        wifiPolyline = map.addPolyline(new PolylineOptions()
+                .color(Color.YELLOW)
+                .width(5f)
+                .zIndex(2f)
+                .add() // start empty
+        );
+
+
     }
 
 
@@ -242,7 +485,7 @@ private void initMapSettings(GoogleMap map) {
      *         The map type is updated on user selection.
      *     </p>
      * </p>
-     *     @see com.google.android.gms.maps.GoogleMap The GoogleMap instance to update map type.
+     *     @see GoogleMap The GoogleMap instance to update map type.
      */
     private void initMapTypeSpinner() {
         if (switchMapSpinner == null) return;
@@ -282,48 +525,55 @@ public void onNothingSelected(AdapterView<?> parent) {}
 
     /**
      * Update the user's current location on the map, create or move orientation marker,
-     * and append to polyline if the user actually moved.
+     * and append to pdrPolyline if the user actually moved.
      *
      * @param newLocation The new location to plot.
      * @param orientation The user’s heading (e.g. from sensor fusion).
      */
     public void updateUserLocation(@NonNull LatLng newLocation, float orientation) {
         if (gMap == null) return;
+        if(isPdrOn)
+        {
+            pdrPolyline.setVisible(true);
+            if (pdrMarker != null) {
+                pdrMarker.setVisible(true);
+            }
+        }
+        else {
+            pdrPolyline.setVisible(false);
+            if (pdrMarker != null) {
+                pdrMarker.setVisible(false);
+            }
+        }
 
         // Keep track of current location
         LatLng oldLocation = this.currentLocation;
         this.currentLocation = newLocation;
 
         // If no marker, create it
-        if (orientationMarker == null) {
-            orientationMarker = gMap.addMarker(new MarkerOptions()
+        if (pdrMarker == null) {
+            pdrMarker = gMap.addMarker(new MarkerOptions()
                     .position(newLocation)
                     .flat(true)
                     .title("Current Position")
                     .icon(BitmapDescriptorFactory.fromBitmap(
                             UtilFunctions.getBitmapFromVector(requireContext(),
-                                    R.drawable.ic_baseline_navigation_24)))
+                                    R.drawable.ic_baseline_navigation_25)))
             );
             gMap.moveCamera(CameraUpdateFactory.newLatLngZoom(newLocation, 19f));
         } else {
             // Update marker position + orientation
-            orientationMarker.setPosition(newLocation);
-            orientationMarker.setRotation(orientation);
+            pdrMarker.setPosition(newLocation);
+            pdrMarker.setRotation(orientation);
             // Move camera a bit
             gMap.moveCamera(CameraUpdateFactory.newLatLng(newLocation));
         }
 
-        // Extend polyline if movement occurred
-        if (oldLocation != null && !oldLocation.equals(newLocation) && polyline != null) {
-            List<LatLng> points = new ArrayList<>(polyline.getPoints());
+        // Extend pdrPolyline if movement occurred
+        if (oldLocation != null && !oldLocation.equals(newLocation) && pdrPolyline != null) {
+            List<LatLng> points = new ArrayList<>(pdrPolyline.getPoints());
             points.add(newLocation);
-            polyline.setPoints(points);
-        }
-
-        // Update indoor map overlay
-        if (indoorMapManager != null) {
-            indoorMapManager.setCurrentLocation(newLocation);
-            setFloorControlsVisibility(indoorMapManager.getIsIndoorMapSet() ? View.VISIBLE : View.GONE);
+            pdrPolyline.setPoints(points);
         }
     }
 
@@ -363,32 +613,165 @@ public LatLng getCurrentLocation() {
      * Called when we want to set or update the GNSS marker position
      */
     public void updateGNSS(@NonNull LatLng gnssLocation) {
+        Log.d("TrajectoryMapFragmentGNN", "GNSS UPDATED" );
         if (gMap == null) return;
-        if (!isGnssOn) return;
 
         if (gnssMarker == null) {
             // Create the GNSS marker for the first time
             gnssMarker = gMap.addMarker(new MarkerOptions()
                     .position(gnssLocation)
                     .title("GNSS Position")
+                    .visible(isGnssOn) // Respect the current switch state
                     .icon(BitmapDescriptorFactory
-                            .defaultMarker(BitmapDescriptorFactory.HUE_AZURE)));
+                            .defaultMarker(BitmapDescriptorFactory.HUE_BLUE)));
             lastGnssLocation = gnssLocation;
         } else {
+            Log.d("TrajectoryMapFragment", "New Gnss update received: " + gnssLocation);
             // Move existing GNSS marker
             gnssMarker.setPosition(gnssLocation);
+            gnssMarker.setVisible(isGnssOn); // Ensure visibility matches switch state
+        }
+
+        // Add a segment to the blue GNSS line, if this is a new location
+        if (lastGnssLocation != null && !lastGnssLocation.equals(gnssLocation)) {
+            List<LatLng> gnssPoints = new ArrayList<>(gnssPolyline.getPoints());
+            gnssPoints.add(gnssLocation);
+            gnssPolyline.setPoints(gnssPoints);
+        }
+        
+        // Update visibility of polyline
+        gnssPolyline.setVisible(isGnssOn);
+        
+        lastGnssLocation = gnssLocation;
+    }
 
-            // Add a segment to the blue GNSS line, if this is a new location
-            if (lastGnssLocation != null && !lastGnssLocation.equals(gnssLocation)) {
-                List<LatLng> gnssPoints = new ArrayList<>(gnssPolyline.getPoints());
-                gnssPoints.add(gnssLocation);
-                gnssPolyline.setPoints(gnssPoints);
+    /**
+     *
+     *
+     * @param ekfLocation The LatLng EKF estimated position
+     * @param orientation The orientation in degrees (0-360) for the marker's heading
+     *
+     * @author Stone Anderson and Sofea Jazlan Arif
+     */
+    public void updateEKF(@NonNull LatLng ekfLocation, float orientation) {
+        if (gMap == null) return;
+
+        if (ekfMarker == null) {
+            // Create the EKF marker the first time using a different color for clarity
+            ekfMarker = gMap.addMarker(new MarkerOptions()
+                    .position(ekfLocation)
+                    .title("EKF Position")
+                    .icon(BitmapDescriptorFactory.fromBitmap(
+                            UtilFunctions.getBitmapFromVector(requireContext(),
+                                    R.drawable.ic_baseline_navigation_24)))
+            );
+            lastEKFLocation = ekfLocation;
+        } else  // if ekfMarker already exists
+        {
+            Log.d("TrajectoryMapFragment", "New EKF update received: " + ekfLocation);
+            // Update marker position
+            ekfMarker.setPosition(ekfLocation);
+            ekfMarker.setRotation(orientation);
+
+            // change view based on ekf location
+            gMap.moveCamera(CameraUpdateFactory.newLatLng(ekfLocation));
+
+            // Add a segment to the EKF polyline if the location has changed
+            if (lastEKFLocation != null && !lastEKFLocation.equals(ekfLocation)) {
+                List<LatLng> ekfPoints = new ArrayList<>(ekfPolyline.getPoints());
+
+                // only plot last N points
+                if (ekfPoints.size() >= MAX_POLYLINE_POINT) {
+                    ekfPoints.remove(0);
+                }
+                for (LatLng point : ekfPoints) {
+                    Log.d("EKF list", "EKF Point: lat=" + point.latitude + ", lon=" + point.longitude);
+                }
+                ekfPoints.add(ekfLocation);
+                ekfPolyline.setPoints(ekfPoints);
             }
-            lastGnssLocation = gnssLocation;
+            lastEKFLocation = ekfLocation;
+        }
+
+        // adjust indoor map to ekf position
+        if (indoorMapManager != null) {
+            indoorMapManager.setCurrentLocation(ekfLocation);
+            setFloorControlsVisibility(indoorMapManager.getIsIndoorMapSet() ? View.VISIBLE : View.GONE);
         }
     }
 
 
+    /**
+     * Updates the particle filter position marker and its corresponding polyline.
+     * 
+     * This method updates the visualization of the particle filter's estimated position
+     * on the map. The particle filter is a sensor fusion technique that represents 
+     * position estimates as a collection of weighted samples, with the final estimate 
+     * being the weighted average of these samples.
+     * 
+     * The method performs the following actions:
+     * 1. Creates a marker for the particle filter position if it doesn't exist
+     * 2. Updates the marker's position and orientation based on new data
+     * 3. Adds new points to the particle filter trajectory polyline
+     * 4. Manages the polyline's maximum length by removing oldest points when needed
+     * 
+     * Note: Currently, the particle visualization is set to invisible by default, as
+     * it is implemented but not actively shown in the current UI. This may change in
+     * future versions of the application.
+     * 
+     * @param particleLocation The new LatLng position estimated by the particle filter
+     * @param orientation The orientation in degrees (0-360) for the marker's heading
+     * 
+     * @author Sofea Jazlan Arif
+     */
+    public void updateParticle(LatLng particleLocation, float orientation){
+        if (gMap == null) return; // Optionally, use a flag (like isEKFOn) if you want to control EKF display separately.
+        Log.d("TrajectoryMapFragment", "New PARTICLE update received: " + particleLocation);
+
+        if (particleMarker == null) {
+            // Create the Particle marker the first time using a different color for clarity
+            particleMarker = gMap.addMarker(new MarkerOptions()
+                    .position(particleLocation)
+                    .title("Particle Position")
+                    .icon(BitmapDescriptorFactory.fromBitmap(
+                            UtilFunctions.getBitmapFromVector(requireContext(),
+                                    R.drawable.ic_baseline_navigation_26)))
+            );
+            particleMarker.setVisible(false);
+            //Log.d("Particle Marker", "Last particle location" + lastParticleLocation);
+            lastParticleLocation = particleLocation;
+            Log.d("Particle Marker", "Last particle location" + lastParticleLocation);
+        } else {
+
+            // Update marker position
+            particleMarker.setPosition(particleLocation);
+            particleMarker.setRotation(orientation);
+            particleMarker.setVisible(false);
+
+            //Log.d("Particle Marker", "particle location in else statement" + particleLocation);
+
+            // Add a segment to the Particle polyline if the location has changed
+            if (lastParticleLocation != null && !lastParticleLocation.equals(particleLocation)) {
+                List<LatLng> particlePoints = new ArrayList<>(particlePolyline.getPoints());
+
+                if (particlePoints.size() >= MAX_POLYLINE_POINT) {
+                    particlePoints.remove(0);
+                }
+
+                for (LatLng point : particlePoints) {
+                    Log.d("Particle list", "Particle Point: lat=" + point.latitude + ", lon=" + point.longitude);
+                }
+
+
+                particlePoints.add(particleLocation);
+                particlePolyline.setPoints(particlePoints);
+                particlePolyline.setVisible(false);
+
+            }
+            lastParticleLocation = particleLocation;
+        }
+
+    }
     /**
      * Remove GNSS marker if user toggles it off
      */
@@ -406,6 +789,306 @@ public boolean isGnssEnabled() {
         return isGnssOn;
     }
 
+
+    /**
+     * Configures the map fragment for replay mode operation.
+     * 
+     * This method sets up the map fragment to operate in replay mode, which affects
+     * how various UI elements and interactions behave. In replay mode, certain features
+     * like tag deletion might be disabled, and the visualization options are configured
+     * based on the available data.
+     * 
+     * The method also tracks whether the replayed trajectory contains WiFi data, which
+     * determines if WiFi-related controls should be enabled or disabled during replay.
+     * 
+     * @param isReplay Indicates if the fragment should operate in replay mode (true) or
+     *                 recording mode (false)
+     * @param hasWifiData Indicates if the replayed trajectory contains WiFi positioning data
+     * 
+     * @author Stone Anderson
+     */
+    public void setReplayMode(boolean isReplay, boolean hasWifiData) {
+        this.isReplayMode = isReplay;
+        this.hasReplayWifiData = hasWifiData;
+    }
+    
+    /**
+     * Sets the default states for all visualization toggles in the control panel.
+     * 
+     * This method configures the initial state of the switches that control which
+     * positioning data sources are visualized on the map. It handles both the internal
+     * state variables and the actual UI switch controls, ensuring they remain synchronized.
+     * 
+     * The method works in two phases:
+     * 1. Updates the internal boolean flags that track switch states
+     * 2. If the UI switches have been initialized, updates their visual state as well
+     * 
+     * This approach ensures that the correct visualization state is maintained even if
+     * the method is called before the UI is fully initialized, as the values will be
+     * applied once the switches become available.
+     * 
+     * @param gnssEnabled Initial state for GNSS visualization (true=visible, false=hidden)
+     * @param wifiEnabled Initial state for WiFi positioning visualization (true=visible, false=hidden)
+     * @param pdrEnabled Initial state for PDR trajectory visualization (true=visible, false=hidden)
+     * 
+     * @author 
+     */
+    public void setDefaultSwitchStates(boolean gnssEnabled, boolean wifiEnabled, boolean pdrEnabled) {
+        // Store these values to be applied when switches are fully initialized
+        this.isGnssOn = gnssEnabled;
+        this.isWifiOn = wifiEnabled;
+        this.isPdrOn = pdrEnabled;
+        
+        // If switches are already initialized, set their states directly
+        if (gnssSwitch != null) {
+            gnssSwitch.setChecked(gnssEnabled);
+        }
+        
+        if (wifiSwitch != null) {
+            wifiSwitch.setChecked(wifiEnabled);
+        }
+        
+        if (pdrSwitch != null) {
+            pdrSwitch.setChecked(pdrEnabled);
+        }
+    }
+    
+    /**
+     * Forces the map to display an indoor map for a specific building regardless of actual position.
+     * 
+     * This method overrides the normal indoor map detection logic and forces the map to display
+     * the indoor floor plan for a specified building at a specified floor level. This is useful
+     * in replay mode or for testing when the current position might not be accurately detected
+     * as inside a building, but we know the trajectory takes place inside that building.
+     * 
+     * The method works by:
+     * 1. Selecting a known point within the specified building's polygon
+     * 2. Setting this point as the "current location" for indoor map detection
+     * 3. Explicitly setting the floor number to display
+     * 4. Making the floor control buttons visible
+     * 
+     * Currently supports two building types: "nucleus" and "library", which correspond to
+     * pre-defined polygon areas in the BuildingPolygon class.
+     * 
+     * @param buildingType The building identifier ("nucleus" or "library")
+     * @param floor The floor number to display (e.g., 0=ground floor, 1=first floor, etc.)
+     * 
+     * @author 
+     */
+    public void forceIndoorMap(String buildingType, int floor) {
+        if (indoorMapManager == null || gMap == null) return;
+        
+        if ("nucleus".equalsIgnoreCase(buildingType)) {
+            // Use a point inside Nucleus building
+            LatLng nucleusPoint = BuildingPolygon.NUCLEUS_POLYGON.get(0);
+            indoorMapManager.setCurrentLocation(nucleusPoint);
+            indoorMapManager.setCurrentFloor(floor, true);
+            Log.d("TrajectoryMapFragment", "Forced Nucleus indoor map, floor: " + floor);
+        } else if ("library".equalsIgnoreCase(buildingType)) {
+            // Use a point inside Library building
+            LatLng libraryPoint = BuildingPolygon.LIBRARY_POLYGON.get(0);
+            indoorMapManager.setCurrentLocation(libraryPoint);
+            indoorMapManager.setCurrentFloor(floor, true);
+            Log.d("TrajectoryMapFragment", "Forced Library indoor map, floor: " + floor);
+        }
+        
+        // Show floor controls now that we have an indoor map
+        setFloorControlsVisibility(View.VISIBLE);
+    }
+
+
+    /**
+     * Enables or disables the WiFi positioning visualization switch.
+     * 
+     * This method controls the interactive state of the WiFi switch in the control panel.
+     * When data for WiFi positioning is unavailable, this switch can be disabled to
+     * provide visual feedback to the user that this positioning method is not available.
+     * The method also adjusts the alpha (opacity) of the switch to provide a visual cue
+     * about its enabled/disabled state.
+     * 
+     * @param isEnabled If true, the switch will be interactive; if false, it will be disabled
+     * 
+     * @author 
+     */
+    public void setWifiSwitchEnabled(boolean isEnabled) {
+        wifiSwitch.setEnabled(isEnabled);
+        wifiSwitch.setAlpha(isEnabled ? 1.0f : 0.5f); // Grey out when disabled
+    }
+    
+    /**
+     * Enables or disables the automatic floor selection switch.
+     * 
+     * This method controls the interactive state of the auto-floor switch in the control panel.
+     * When indoor positioning data is unavailable, this switch can be disabled to indicate
+     * that automatic floor detection is not possible. The method also adjusts the alpha
+     * (opacity) of the switch to provide a visual cue about its enabled/disabled state.
+     * 
+     * @param isEnabled If true, the switch will be interactive; if false, it will be disabled
+     * 
+     * @author
+     */
+    public void setAutoFloorSwitchEnabled(boolean isEnabled) {
+        autoFloorSwitch.setEnabled(isEnabled);
+        autoFloorSwitch.setAlpha(isEnabled ? 1.0f : 0.5f); // Grey out when disabled
+    }
+    
+    /**
+     * Enables or disables the GNSS positioning visualization switch.
+     * 
+     * This method controls the interactive state of the GNSS switch in the control panel.
+     * When GNSS positioning data is unavailable, this switch can be disabled to indicate
+     * that this positioning method is not available. The method also adjusts the alpha
+     * (opacity) of the switch to provide a visual cue about its enabled/disabled state.
+     * 
+     * @param isEnabled If true, the switch will be interactive; if false, it will be disabled
+     * 
+     * @author 
+     */
+    public void setGnssSwitchEnabled(boolean isEnabled) {
+        gnssSwitch.setEnabled(isEnabled);
+        gnssSwitch.setAlpha(isEnabled ? 1.0f : 0.5f); // Grey out when disabled
+    }
+    
+    /**
+     * Enables or disables the PDR trajectory visualization switch.
+     * 
+     * This method controls the interactive state of the PDR switch in the control panel.
+     * When PDR (Pedestrian Dead Reckoning) data is unavailable, this switch can be disabled
+     * to indicate that this positioning method is not available. The method also adjusts the
+     * alpha (opacity) of the switch to provide a visual cue about its enabled/disabled state.
+     * 
+     * @param isEnabled If true, the switch will be interactive; if false, it will be disabled
+     * 
+     * @author 
+     */
+    public void setPdrSwitchEnabled(boolean isEnabled) {
+        pdrSwitch.setEnabled(isEnabled);
+        pdrSwitch.setAlpha(isEnabled ? 1.0f : 0.5f); // Grey out when disabled
+    }
+
+
+
+    /**
+     * Updates the WiFi positioning marker and its corresponding trajectory polyline.
+     * 
+     * This method updates the visualization of WiFi-based indoor positioning on the map.
+     * It creates or updates a marker showing the current WiFi-derived position and adds 
+     * to the trajectory polyline that shows the path of WiFi positions over time.
+     * 
+     * The method performs the following actions:
+     * 1. Creates a WiFi marker if it doesn't exist yet, using a yellow marker
+     * 2. Updates the marker's position with new WiFi location data
+     * 3. Adjusts marker visibility based on the WiFi visualization toggle state
+     * 4. Extends the WiFi trajectory polyline if the location has changed
+     * 5. Ensures the polyline's visibility matches the toggle state
+     * 6. Manages the maximum length of the polyline to maintain performance
+     * 
+     * WiFi positioning is particularly valuable for indoor environments where GNSS
+     * signals may be weak or unavailable. The visualization allows users to compare
+     * WiFi-based positioning with other methods like PDR or GNSS.
+     * 
+     * @param wifiLocation The new LatLng position derived from WiFi positioning
+     * 
+     * @author Stone Anderson
+     */
+    public void updateWifi(@NonNull LatLng wifiLocation) {
+        if (gMap == null) return;
+
+        if (wifiMarker == null) {
+            // Create the Wifi marker for the first time
+            wifiMarker = gMap.addMarker(new MarkerOptions()
+                    .position(wifiLocation)
+                    .title("Wifi Position")
+                    .visible(isWifiOn) // Respect current switch state
+                    .icon(BitmapDescriptorFactory
+                            .defaultMarker(BitmapDescriptorFactory.HUE_YELLOW)));
+            lastWifiLocation = wifiLocation;
+        } else {
+            Log.d("TrajectoryMapFragment", "New WiFi update received: " + wifiLocation);
+            // Move existing Wifi marker
+            wifiMarker.setPosition(wifiLocation);
+            wifiMarker.setVisible(isWifiOn); // Ensure visibility matches switch state
+        }
+
+        // Add a segment to the yellow Wifi line, if this is a new location
+        if (lastWifiLocation != null && !lastWifiLocation.equals(wifiLocation)) {
+            List<LatLng> wifiPoints = new ArrayList<>(wifiPolyline.getPoints());
+
+            if (wifiPoints.size() >= MAX_POLYLINE_POINT) {
+                wifiPoints.remove(0);
+            }
+
+            wifiPoints.add(wifiLocation);
+            wifiPolyline.setPoints(wifiPoints);
+        }
+        
+        // Update visibility of polyline
+        wifiPolyline.setVisible(isWifiOn);
+        lastWifiLocation = wifiLocation;
+    }
+
+    /**
+     * Removes the WiFi positioning marker from the map.
+     * 
+     * This method completely removes the WiFi positioning marker from the map when
+     * the user toggles off WiFi visualization or when cleaning up resources. This is 
+     * different from just setting visibility to false, as it fully removes the marker
+     * object from the map, freeing memory resources.
+     * 
+     * @author 
+     */
+    public void clearWifi() {
+        if (wifiMarker != null) {
+            wifiMarker.remove();
+            wifiMarker = null;
+        }
+    }
+
+    /**
+     * Checks if WiFi positioning visualization is currently enabled.
+     * 
+     * This method returns the current state of the WiFi visualization toggle.
+     * It's used by other components to determine whether WiFi positioning data
+     * should be displayed on the map.
+     * 
+     * @return true if WiFi positioning visualization is enabled, false otherwise
+     * 
+     * @author 
+     */
+    public boolean isWifiEnabled() {
+        return isWifiOn;
+    }
+
+
+    /**
+     * Processes floor information from WiFi positioning and updates the indoor map.
+     * 
+     * This method handles floor change events detected through WiFi positioning.
+     * When indoor positioning data includes floor information, this method stores
+     * the floor value and, if automatic floor switching is enabled, updates the
+     * indoor map to display the correct floor plan for that level.
+     * 
+     * The automatic floor detection feature allows the application to seamlessly
+     * transition between floor plans as the user moves throughout a multi-level
+     * building, without requiring manual floor selection.
+     * 
+     * @param floor The floor number detected by WiFi positioning (typically 0=ground floor,
+     *              1=first floor, etc., but depends on the building's configuration)
+     *              
+     * @author Semih Vazgecen
+     */
+    public void autoFloorHandler(int floor){
+        wifiFloor = floor;
+        Log.d("TrajectoryMapFragment", "New WiFi Floor received: " + wifiFloor);
+        
+        // Always process floor changes if autoFloorSwitch is checked
+        if(autoFloorSwitch != null && autoFloorSwitch.isChecked() && indoorMapManager != null) {
+            indoorMapManager.setCurrentFloor(wifiFloor, true);
+        }
+    }
+
+
+
     private void setFloorControlsVisibility(int visibility) {
         floorUpButton.setVisibility(visibility);
         floorDownButton.setVisibility(visibility);
@@ -413,34 +1096,61 @@ private void setFloorControlsVisibility(int visibility) {
     }
 
     public void clearMapAndReset() {
-        if (polyline != null) {
-            polyline.remove();
-            polyline = null;
+        if (pdrPolyline != null) {
+            pdrPolyline.remove();
+            pdrPolyline = null;
         }
         if (gnssPolyline != null) {
             gnssPolyline.remove();
             gnssPolyline = null;
         }
-        if (orientationMarker != null) {
-            orientationMarker.remove();
-            orientationMarker = null;
+        if (wifiPolyline != null) {
+            wifiPolyline.remove();
+            wifiPolyline = null;
+        }
+        if (ekfPolyline != null) {
+            ekfPolyline.remove();
+            ekfPolyline = null;
+        }
+
+        if (pdrMarker != null) {
+            pdrMarker.remove();
+            pdrMarker = null;
         }
         if (gnssMarker != null) {
             gnssMarker.remove();
             gnssMarker = null;
         }
+        if (wifiMarker != null) {
+            wifiMarker.remove();
+            wifiMarker = null;
+        }
         lastGnssLocation = null;
+        lastEKFLocation = null;
+        lastWifiLocation = null;
         currentLocation  = null;
 
         // Re-create empty polylines with your chosen colors
         if (gMap != null) {
-            polyline = gMap.addPolyline(new PolylineOptions()
+            pdrPolyline = gMap.addPolyline(new PolylineOptions()
                     .color(Color.RED)
                     .width(5f)
+                    .zIndex(2f)
                     .add());
             gnssPolyline = gMap.addPolyline(new PolylineOptions()
                     .color(Color.BLUE)
                     .width(5f)
+                    .zIndex(2f)
+                    .add());
+            wifiPolyline = gMap.addPolyline(new PolylineOptions()
+                    .color(Color.YELLOW)
+                    .width(5f)
+                    .zIndex(2f)
+                    .add());
+            ekfPolyline = gMap.addPolyline(new PolylineOptions()
+                    .color(Color.GREEN)
+                    .width(5f)
+                    .zIndex(2f)
                     .add());
         }
     }
@@ -460,7 +1170,7 @@ public void clearMapAndReset() {
      *
      *    </p>
      *
-     *    See: {@link com.google.android.gms.maps.model.PolygonOptions} The options for the new polygon.
+     *    See: {@link PolygonOptions} The options for the new polygon.
      */
     private void drawBuildingPolygon() {
         if (gMap == null) {
@@ -506,7 +1216,7 @@ private void drawBuildingPolygon() {
                 .add(nkml1, nkml2, nkml3, nkml4, nkml1)
                 .strokeColor(Color.BLUE)    // Blue border
                 .strokeWidth(10f)           // Border width
-               // .fillColor(Color.argb(50, 0, 0, 255)) // Semi-transparent blue fill
+                // .fillColor(Color.argb(50, 0, 0, 255)) // Semi-transparent blue fill
                 .zIndex(1);                // Set a higher zIndex to ensure it appears above other overlays
 
         PolygonOptions buildingPolygonOptions3 = new PolygonOptions()
@@ -537,5 +1247,155 @@ private void drawBuildingPolygon() {
         Log.d("TrajectoryMapFragment", "Building polygon added, vertex count: " + buildingPolygon.getPoints().size());
     }
 
+    /**
+     * Displays a delete button above the selected tag marker.
+     * 
+     * This method positions and displays a delete button directly above a selected tag marker,
+     * allowing users to remove tags they've previously placed. The button is dynamically
+     * positioned relative to the marker's screen position, accounting for different screen 
+     * sizes and densities.
+     * 
+     * The method:
+     * 1. Verifies that the operation is valid (not in replay mode, UI elements initialized)
+     * 2. Converts the marker's geographic position to screen coordinates
+     * 3. Calculates an appropriate offset to position the button above the marker
+     * 4. Sets the button's position and makes it visible
+     * 
+     * The delete button is only shown when a tag marker is selected and is not available 
+     * in replay mode, as replays are read-only visualizations of previously recorded data.
+     * 
+     * @param marker The selected marker above which to display the delete button
+     * 
+     * @author Semih Vazgecen
+     */
+    private void showDeleteButton(Marker marker) {
+        if (isReplayMode || deleteTagButton == null || gMap == null) return;
+
+        Projection projection = gMap.getProjection();
+        if (projection == null) return; // Ensure projection is available
+
+        // Convert LatLng to screen coordinates
+        Point screenPosition = projection.toScreenLocation(marker.getPosition());
+
+        // Convert 50dp to pixels dynamically
+        float offsetY = TypedValue.applyDimension(
+                TypedValue.COMPLEX_UNIT_DIP, 50,
+                deleteTagButton.getResources().getDisplayMetrics()
+        );
+
+        // Adjust position (Move button slightly above the marker)
+        deleteTagButton.setX(screenPosition.x - (deleteTagButton.getWidth() / 2f));
+        deleteTagButton.setY(screenPosition.y - offsetY); // Use dynamic height
+
+        // Show button
+        deleteTagButton.setVisibility(View.VISIBLE);
+    }
+    
+    /**
+     * Adds a marker at the specified location to indicate a user-tagged position.
+     * 
+     * This method creates and places a visible tag marker on the map at the specified
+     * geographic coordinates. Tags are used to mark points of interest during recording,
+     * such as landmarks, entrances, or other notable locations. Each tag is associated
+     * with a timestamp that identifies when it was created during the recording session.
+     * 
+     * If the map is not yet initialized when this method is called, the marker is queued
+     * and will be added once the map becomes available. This ensures that tag markers
+     * are not lost due to timing issues during initialization.
+     * 
+     * Tag markers are displayed with a distinctive azure (blue) color to differentiate
+     * them from other markers on the map, and they have a higher z-index to ensure they
+     * appear above other map elements.
+     * 
+     * @param position The geographic coordinates where the tag should be placed
+     * @param timestamp The relative timestamp when the tag was created, used for
+     *                  identification and potential removal
+     *                  
+     * @author Joseph Azrak
+     */
+    public void addTagMarker(LatLng position, long timestamp) {
+        MarkerOptions markerOptions = new MarkerOptions()
+                .position(position)
+                .title("Tag")
+                .icon(BitmapDescriptorFactory.defaultMarker(BitmapDescriptorFactory.HUE_AZURE))
+                .zIndex(2.0f);
+
+        if (gMap == null) {
+            Log.w("TrajectoryMapFragment", "Map not ready, queuing marker for later.");
+            pendingMarkers.add(markerOptions);
+            return;
+        }
+
+        Marker tagMarker = gMap.addMarker(markerOptions);
+        if (tagMarker != null) {
+            tagMarkers.add(tagMarker);
+            tagMarker.setTag(timestamp);
+            Log.d("TrajectoryMapFragment", "Added tag marker at position: " + position);
+        }
+    }
+
+    /**
+     * Processes all pending tag markers that were queued before the map was ready.
+     * 
+     * This method is called once the Google Map is fully initialized and ready to accept
+     * markers. It iterates through the queue of pending markers (those that were requested
+     * to be added before the map was ready) and adds them to the map. After processing,
+     * it clears the queue to prevent duplicate markers.
+     * 
+     * This approach ensures that no tag markers are lost if they are created during
+     * the asynchronous initialization of the map, which is particularly important
+     * when loading a saved trajectory with pre-existing tags.
+     * 
+     * @author Semih Vazgecen
+     */
+    private void processPendingMarkers() {
+        if (gMap == null) return;
+
+        for (MarkerOptions marker : pendingMarkers) {
+            gMap.addMarker(marker);
+        }
+        pendingMarkers.clear(); // Clear the queue after adding
+    }
+
+    /**
+     * Removes the currently selected tag marker from both the map and the trajectory data.
+     * 
+     * This method is called when the user clicks the delete button associated with a
+     * selected tag marker. It performs a complete removal of the tag by:
+     * 1. Getting the timestamp associated with the selected marker
+     * 2. Calling the SensorFusion service to remove the tag from the trajectory data
+     * 3. Removing the marker from the Google Map visual display
+     * 4. Removing the marker from the internal tag tracking list
+     * 5. Hiding the delete button
+     * 6. Clearing the selected marker reference
+     * 
+     * The method includes validation to ensure the marker has a valid timestamp tag and
+     * handles potential errors safely. This implementation ensures that deleted tags are
+     * completely removed from both the UI and the underlying data model.
+     * 
+     * @author 
+     */
+    private void removeSelectedTag() {
+        if (selectedMarker == null) return;
+
+        Object tagObject = selectedMarker.getTag();
+        if (tagObject == null) {
+            Log.e("TrajectoryMapFragment", "Error: selectedMarker has no tag!");
+            return;
+        }
+
+        // Safely cast and remove
+        long tagTimestamp = (long) tagObject;
+        sensorFusion = SensorFusion.getInstance();
+        sensorFusion.removeTag(tagTimestamp);
+
+        // Remove marker from map
+        selectedMarker.remove();
+        tagMarkers.remove(selectedMarker);
+
+        // Hide delete button
+        deleteTagButton.setVisibility(View.GONE);
+        selectedMarker = null;
+    }
 
-}
+}
\ No newline at end of file
diff --git a/app/src/main/java/com/openpositioning/PositionMe/presentation/viewitems/SensorDataViewModel.java b/app/src/main/java/com/openpositioning/PositionMe/presentation/viewitems/SensorDataViewModel.java
new file mode 100644
index 00000000..f960f643
--- /dev/null
+++ b/app/src/main/java/com/openpositioning/PositionMe/presentation/viewitems/SensorDataViewModel.java
@@ -0,0 +1,62 @@
+package com.openpositioning.PositionMe.presentation.viewitems;
+
+
+import androidx.lifecycle.LiveData;
+import androidx.lifecycle.MutableLiveData;
+import androidx.lifecycle.ViewModel;
+import com.google.android.gms.maps.model.LatLng;
+
+/**
+ * ViewModel for sharing sensor data availability status across UI components
+ * Used to monitor Wifi and GNSS for No coverage Detection
+ *
+ * The ViewModel maintains observable flags for:
+ * - WiFi positioning data availability
+ * - GNSS positioning data availability
+ * 
+ * @author Stone Anderson
+ */
+public class SensorDataViewModel extends ViewModel {
+    private final MutableLiveData<Boolean> hasWifiData = new MutableLiveData<>();
+    private final MutableLiveData<Boolean> hasGnssData = new MutableLiveData<>();
+
+    /**
+     * Gets the LiveData object tracking WiFi positioning data availability.
+     * @return LiveData<Boolean> containing true if WiFi positioning data is available,
+     *         false otherwise
+     * @author Stone Anderson
+     */
+    public LiveData<Boolean> getHasWifiData() {
+        return hasWifiData;
+    }
+
+    /**
+     * Gets the LiveData object tracking GNSS data availability.
+     * @return LiveData<Boolean> containing true if GNSS positioning data is available,
+     *         false otherwise
+     * @author  Stone Anderson
+     */
+    public LiveData<Boolean> getHasGnssData() {
+        return hasGnssData;
+    }
+
+    /**
+     * Updates the WiFi positioning data availability state.
+     * @param hasWifi true if WiFi positioning data is available, false otherwise
+     * @author  Stone Anderson
+     */
+    public void setHasWifiData(boolean hasWifi) {
+        hasWifiData.setValue(hasWifi);
+    }
+
+
+    /**
+     * Updates the GNSS (GPS) data availability state.
+     * @param hasGnss true if GNSS positioning data is available, false otherwise
+     * @author   Stone Anderson
+     */
+    public void setHasGnssData(boolean hasGnss) {
+        hasGnssData.setValue(hasGnss);
+    }
+}
+
diff --git a/app/src/main/java/com/openpositioning/PositionMe/sensors/BatchSensorFusion.java b/app/src/main/java/com/openpositioning/PositionMe/sensors/BatchSensorFusion.java
new file mode 100644
index 00000000..c570b35f
--- /dev/null
+++ b/app/src/main/java/com/openpositioning/PositionMe/sensors/BatchSensorFusion.java
@@ -0,0 +1,791 @@
+package com.openpositioning.PositionMe.sensors;
+
+import org.ejml.simple.SimpleMatrix;
+
+import org.locationtech.proj4j.CRSFactory;
+import org.locationtech.proj4j.CoordinateReferenceSystem;
+import org.locationtech.proj4j.BasicCoordinateTransform;
+import org.locationtech.proj4j.ProjCoordinate;
+import com.google.android.gms.maps.model.LatLng;
+import android.util.Log;
+
+/**
+ * The BatchSensorFusion class implements a batch optimization approach to sensor fusion.
+ * This class collects measurements from multiple sensors (GNSS, WiFi, PDR) over a time window
+ * and performs batch optimization to determine the most likely trajectory.
+ *
+ * @author Joseph Azrak
+ */
+public class BatchSensorFusion {
+    private static final String TAG = "BatchSensorFusion";
+
+    // State window - stores position estimates for a window of time
+    private SimpleMatrix[] stateWindow;
+    // Measurement windows for different sensor types
+    private SimpleMatrix[] gnssWindow;
+    private SimpleMatrix[] wifiWindow;
+    private SimpleMatrix[] pdrWindow;
+    // Current window size
+    private int windowSize;
+    // Maximum window size
+    private final int MAX_WINDOW_SIZE;
+    // Window timestamps
+    private long[] timestamps;
+
+    // Process noise covariance (2x2)
+    private SimpleMatrix Q;
+    // Measurement noise covariance for different sensors (2x2 each)
+    private SimpleMatrix R_gnss;
+    private SimpleMatrix R_wifi;
+    private SimpleMatrix R_pdr;
+
+    // Parameters for numerical stability
+    private static final double DAMPING_FACTOR = 0.3; // More conservative damping
+    private static final double MAX_UPDATE_THRESHOLD = 50.0; // Stricter limit on updates
+    private static final double REGULARIZATION_STRENGTH = 1e-2; // Stronger regularization
+    private static final int MAX_ITERATIONS = 5; // Fewer iterations to prevent problems
+
+    // UTM zone info for coordinate conversion
+    private int utmZone;
+    private boolean isNorthernHemisphere;
+
+    // Initial reference point for sanity checking
+    private LatLng initialReferencePoint;
+
+    /**
+     * Constructor to initialize the Batch Sensor Fusion with given parameters.
+     * 
+     * This constructor sets up the batch optimization framework with initial state,
+     * window size, and noise parameters. It initializes the state window arrays
+     * and measurement history arrays for GNSS, WiFi, and PDR data. The constructor
+     * also sets default UTM zone parameters for coordinate transformations, which
+     * will be updated when the first GNSS measurement is received.
+     *
+     * @param initialState 2x1 initial state vector [x; y] in UTM coordinates
+     * @param maxWindowSize Maximum number of states to keep in the window
+     * @param Q Process noise covariance (2x2) representing uncertainty in motion model
+     * @param R_gnss Measurement noise covariance for GNSS (2x2) representing uncertainty in GNSS readings
+     * @param R_wifi Measurement noise covariance for WiFi (2x2) representing uncertainty in WiFi positioning
+     * @param R_pdr Measurement noise covariance for PDR (2x2) representing uncertainty in step detection
+     * 
+     * @author Joseph Azrak
+     */
+    public BatchSensorFusion(SimpleMatrix initialState, int maxWindowSize,
+                             SimpleMatrix Q,
+                             SimpleMatrix R_gnss, SimpleMatrix R_wifi, SimpleMatrix R_pdr) {
+        this.MAX_WINDOW_SIZE = maxWindowSize;
+        this.windowSize = 1; // Start with just the initial state
+
+        // Initialize window arrays
+        this.stateWindow = new SimpleMatrix[MAX_WINDOW_SIZE];
+        this.gnssWindow = new SimpleMatrix[MAX_WINDOW_SIZE];
+        this.wifiWindow = new SimpleMatrix[MAX_WINDOW_SIZE];
+        this.pdrWindow = new SimpleMatrix[MAX_WINDOW_SIZE];
+        this.timestamps = new long[MAX_WINDOW_SIZE];
+
+        // Set initial state
+        this.stateWindow[0] = initialState;
+
+        // Set covariance matrices
+        this.Q = Q;
+        this.R_gnss = R_gnss;
+        this.R_wifi = R_wifi;
+        this.R_pdr = R_pdr;
+
+        // Initialize measurement windows with null (no measurements yet)
+        for (int i = 0; i < MAX_WINDOW_SIZE; i++) {
+            this.gnssWindow[i] = null;
+            this.wifiWindow[i] = null;
+            this.pdrWindow[i] = null;
+        }
+
+        // Default UTM zone (will be updated with the first GNSS measurement)
+        this.utmZone = 30; // Default to zone 30 (covers Edinburgh)
+        this.isNorthernHemisphere = true; // Default to northern hemisphere
+
+        Log.d(TAG, "BatchSensorFusion initialized with initial state: " + initialState);
+    }
+
+    /**
+     * Adds a new state to the window with optional measurements from different sensors.
+     * 
+     * This method incorporates new sensor measurements into the state window, extending
+     * the trajectory with a new position estimate. If the window is already at maximum
+     * capacity, it shifts all states to make room for the new one. The method handles
+     * data from multiple sensor types (PDR, GNSS, WiFi) and applies sanity checks to
+     * prevent divergence due to erroneous measurements.
+     * 
+     * Key features:
+     * - Updates UTM zone information from the first GNSS measurement
+     * - Applies displacement limits to PDR measurements for stability
+     * - Performs validity checks on all sensor data
+     * - Maintains a window of state estimates and corresponding measurements
+     * 
+     * Shifts the window if it reaches maximum size.
+     *
+     * @param timestamp The timestamp for this state in milliseconds
+     * @param pdrMeasurement PDR displacement measurement as 2x1 vector [dx, dy] (can be null)
+     * @param gnssMeasurement GNSS position measurement as 2x1 vector [x, y] (can be null)
+     * @param wifiMeasurement WiFi position measurement as 2x1 vector [x, y] (can be null)
+     * 
+     * @author Joseph Azrak
+     */
+    public void addStateToWindow(long timestamp,
+                                 SimpleMatrix pdrMeasurement,
+                                 SimpleMatrix gnssMeasurement,
+                                 SimpleMatrix wifiMeasurement) {
+        // If window is full, shift everything
+        if (windowSize == MAX_WINDOW_SIZE) {
+            shiftWindow();
+        }
+
+        // Add new measurements at the end of the window
+        int idx = windowSize;
+
+        // Update UTM zone from GNSS measurement if available (for first measurement only)
+        if (gnssMeasurement != null && (initialReferencePoint == null)) {
+            float x = (float)gnssMeasurement.get(0, 0);
+            float y = (float)gnssMeasurement.get(1, 0);
+
+            // Back-transform to get LatLng
+            LatLng gnssLatLng = getInverseTransformedCoordinate(x, y, utmZone, isNorthernHemisphere);
+
+            // Store as reference and update UTM zone
+            initialReferencePoint = gnssLatLng;
+            utmZone = (int) Math.floor((gnssLatLng.longitude + 180) / 6) + 1;
+            isNorthernHemisphere = gnssLatLng.latitude >= 0;
+
+            Log.d(TAG, "UTM Zone set to: " + utmZone + " (Northern: " + isNorthernHemisphere +
+                    ") from GNSS: " + gnssLatLng.latitude + ", " + gnssLatLng.longitude);
+        }
+
+        // If we have a new state from PDR, add it
+        if (pdrMeasurement != null) {
+            // For PDR, we typically use the previous state plus the displacement
+            SimpleMatrix prevState = stateWindow[windowSize - 1];
+
+            // Limit PDR displacements to reasonable values to prevent divergence
+            double dx = clamp(pdrMeasurement.get(0, 0), -5.0, 5.0);
+            double dy = clamp(pdrMeasurement.get(1, 0), -5.0, 5.0);
+
+            SimpleMatrix dampedPdr = new SimpleMatrix(2, 1, true, new double[] { dx, dy });
+            SimpleMatrix newState = prevState.plus(dampedPdr);
+
+            // Let's make sure the new state is reasonable
+            if (isFinite(newState)) {
+                stateWindow[idx] = newState;
+                pdrWindow[idx] = dampedPdr;
+            } else {
+                Log.e(TAG, "Non-finite state detected from PDR, using previous state");
+                stateWindow[idx] = prevState.copy();
+                pdrWindow[idx] = new SimpleMatrix(2, 1); // Zero displacement
+            }
+        } else {
+            // Otherwise, duplicate the last state (random walk)
+            stateWindow[idx] = stateWindow[windowSize - 1].copy();
+            pdrWindow[idx] = null;
+        }
+
+        // Add other sensor measurements (with sanity checks)
+        if (gnssMeasurement != null && isFinite(gnssMeasurement)) {
+            gnssWindow[idx] = gnssMeasurement;
+        } else {
+            gnssWindow[idx] = null;
+        }
+
+        if (wifiMeasurement != null && isFinite(wifiMeasurement)) {
+            wifiWindow[idx] = wifiMeasurement;
+        } else {
+            wifiWindow[idx] = null;
+        }
+
+        timestamps[idx] = timestamp;
+
+        // Increase window size
+        windowSize++;
+
+        // Print diagnostics for the newest state
+        if (stateWindow[idx] != null) {
+            Log.d(TAG, "Added new state [" + idx + "]: x=" + stateWindow[idx].get(0, 0) +
+                    ", y=" + stateWindow[idx].get(1, 0));
+        }
+    }
+
+    /**
+     * Shifts all elements in the window arrays to make room for new entries.
+     * 
+     * This method is called when the window has reached its maximum capacity and
+     * a new state needs to be added. It moves all elements one position earlier
+     * in their respective arrays, effectively dropping the oldest state and
+     * measurement data. After shifting, the last element is set to null to avoid
+     * stale data, and the window size is decremented to reflect that the last
+     * position is now available for new data.
+     * 
+     * The method shifts the following arrays:
+     * - stateWindow: Position estimates [x, y]
+     * - gnssWindow: GNSS measurements
+     * - wifiWindow: WiFi positioning measurements
+     * - pdrWindow: PDR displacement measurements
+     * - timestamps: Corresponding timestamps for each state
+     * 
+     * @author Joseph Azrak
+     */
+    private void shiftWindow() {
+        for (int i = 0; i < MAX_WINDOW_SIZE - 1; i++) {
+            stateWindow[i] = stateWindow[i + 1];
+            gnssWindow[i] = gnssWindow[i + 1];
+            wifiWindow[i] = wifiWindow[i + 1];
+            pdrWindow[i] = pdrWindow[i + 1];
+            timestamps[i] = timestamps[i + 1];
+        }
+        windowSize--;  // Reduce window size since the last element will be overwritten
+
+        // Reset last element to null to avoid stale data
+        stateWindow[windowSize] = null;
+        gnssWindow[windowSize] = null;
+        wifiWindow[windowSize] = null;
+        pdrWindow[windowSize] = null;
+    }
+
+    /**
+     * Runs batch optimization on the current window of states and measurements.
+     * 
+     * This method performs a multi-state optimization over the entire trajectory window,
+     * simultaneously incorporating all available measurements and motion constraints.
+     * It implements a damped Gauss-Newton optimization approach with numerous safeguards
+     * to ensure numerical stability and prevent divergence.
+     * 
+     * The optimization process:
+     * 1. Constructs an information matrix and vector representing all constraints
+     * 2. Adds process model constraints (smoothness between consecutive states)
+     * 3. Adds measurement constraints from GNSS and WiFi sensors
+     * 4. Solves the system to find optimal state updates
+     * 5. Applies updates with damping and clamping to prevent instability
+     * 6. Repeats until convergence or maximum iterations reached
+     * 
+     * Safety features include:
+     * - Regularization to ensure matrix condition
+     * - Damping to prevent excessive updates
+     * - Convergence detection with early stopping
+     * - Divergence detection
+     * - Sanity checks on final position estimates
+     * 
+     * @author Joseph Azrak
+     */
+    public void optimizeBatch() {
+        // Skip if window is too small
+        if (windowSize < 2) {
+            Log.d(TAG, "Window too small for optimization, skipping");
+            return;
+        }
+
+        Log.d(TAG, "Starting batch optimization with " + windowSize + " states");
+
+        // Number of iterations for optimization
+        int iterations = 0;
+        double lastMaxUpdate = Double.MAX_VALUE;
+        boolean hasConverged = false;
+
+        while (iterations < MAX_ITERATIONS && !hasConverged) {
+            // Reset the information matrix and vector for this iteration
+            SimpleMatrix H = new SimpleMatrix(windowSize * 2, windowSize * 2);
+            SimpleMatrix b = new SimpleMatrix(windowSize * 2, 1);
+
+            // First, add motion model constraints (smoothness between consecutive states)
+            for (int i = 1; i < windowSize; i++) {
+                // Add process model: x_i = x_{i-1} + u_i + noise
+                // where u_i is the PDR measurement (if available)
+
+                // Information for process model (inverse of Q)
+                SimpleMatrix Qinv;
+                try {
+                    Qinv = Q.invert();
+                } catch (Exception e) {
+                    Log.e(TAG, "Failed to invert Q matrix, using simplified version", e);
+                    // Fallback to diagonal matrix if inversion fails
+                    Qinv = SimpleMatrix.identity(2).scale(1.0/0.1);
+                }
+
+                // Fill in the blocks of H for current state and previous state
+                fillInfoMatrixBlock(H, Qinv, (i-1)*2, (i-1)*2); // x_{i-1}
+                fillInfoMatrixBlock(H, Qinv.scale(-1), (i-1)*2, i*2); // x_i
+                fillInfoMatrixBlock(H, Qinv.scale(-1), i*2, (i-1)*2); // x_{i-1}
+                fillInfoMatrixBlock(H, Qinv, i*2, i*2); // x_i
+
+                // Calculate the expected difference between states
+                SimpleMatrix diff;
+                if (pdrWindow[i] != null) {
+                    // If we have PDR measurement, expected diff is the PDR displacement
+                    diff = pdrWindow[i];
+                } else {
+                    // Otherwise, expected diff is zero (states should be similar)
+                    diff = new SimpleMatrix(2, 1);
+                }
+
+                // Calculate the actual difference between states
+                SimpleMatrix actualDiff = stateWindow[i].minus(stateWindow[i-1]);
+
+                // Error term
+                SimpleMatrix error = actualDiff.minus(diff);
+
+                // Clamp error values to prevent extreme updates
+                for (int j = 0; j < error.getNumElements(); j++) {
+                    double val = error.get(j);
+                    error.set(j, clamp(val, -MAX_UPDATE_THRESHOLD, MAX_UPDATE_THRESHOLD));
+                }
+
+                // Update the information vector b
+                SimpleMatrix contribution = Qinv.mult(error);
+                b.insertIntoThis((i-1)*2, 0, b.extractMatrix((i-1)*2, (i-1)*2 + 2, 0, 1).plus(contribution.scale(-1)));
+                b.insertIntoThis(i*2, 0, b.extractMatrix(i*2, i*2 + 2, 0, 1).plus(contribution));
+            }
+
+            // Now add measurement constraints
+            for (int i = 0; i < windowSize; i++) {
+                // Add GNSS measurement if available (with higher weight)
+                if (gnssWindow[i] != null) {
+                    SimpleMatrix scaledR = R_gnss.scale(0.5); // Reduce variance = increase weight
+                    addMeasurementConstraint(H, b, i, gnssWindow[i], scaledR);
+                }
+
+                // Add WiFi measurement if available
+                if (wifiWindow[i] != null) {
+                    addMeasurementConstraint(H, b, i, wifiWindow[i], R_wifi);
+                }
+            }
+
+            // Solve the system H * delta = b
+            // Add regularization term to ensure matrix is well-conditioned
+            SimpleMatrix regularization = SimpleMatrix.identity(H.numRows()).scale(REGULARIZATION_STRENGTH);
+            H = H.plus(regularization);
+
+            SimpleMatrix delta;
+            try {
+                delta = H.solve(b);
+
+                // Apply damping to prevent excessive updates
+                delta = delta.scale(DAMPING_FACTOR);
+
+                // Calculate max update for convergence check
+                double maxUpdate = delta.elementMaxAbs();
+                Log.d(TAG, "Iteration " + iterations + " completed. Max update: " + maxUpdate);
+
+                // Update all states in the window
+                for (int i = 0; i < windowSize; i++) {
+                    SimpleMatrix stateUpdate = delta.extractMatrix(i*2, (i+1)*2, 0, 1);
+
+                    // Clamp individual updates
+                    for (int j = 0; j < stateUpdate.getNumElements(); j++) {
+                        double val = stateUpdate.get(j);
+                        stateUpdate.set(j, clamp(val, -MAX_UPDATE_THRESHOLD, MAX_UPDATE_THRESHOLD));
+                    }
+
+                    SimpleMatrix updatedState = stateWindow[i].plus(stateUpdate);
+
+                    // Sanity check: Make sure all elements are finite
+                    if (isFinite(updatedState)) {
+                        stateWindow[i] = updatedState;
+                    } else {
+                        Log.e(TAG, "Non-finite state detected, skipping update for state " + i);
+                    }
+                }
+
+                // Check for convergence
+                hasConverged = (maxUpdate < 1e-2) || Math.abs(maxUpdate - lastMaxUpdate) < 1e-3;
+
+                // If updates are getting larger, stop early to prevent divergence
+                if (maxUpdate > lastMaxUpdate * 1.5 && iterations > 1) {
+                    Log.w(TAG, "Updates growing, stopping optimization to prevent divergence");
+                    break;
+                }
+
+                lastMaxUpdate = maxUpdate;
+
+            } catch (Exception e) {
+                Log.e(TAG, "Error solving system: " + e.getMessage(), e);
+                break;
+            }
+
+            iterations++;
+        }
+
+        // Log final state for debugging
+        if (windowSize > 0) {
+            SimpleMatrix finalState = stateWindow[windowSize - 1];
+            Log.d(TAG, "Final optimized state: x=" + finalState.get(0,0) + ", y=" + finalState.get(1,0));
+
+            // Validate the final state
+            LatLng position = getFinalPositionAsLatLng();
+            if (position != null) {
+                // Check if the result is reasonable (within bounds of the GNSS reading)
+                if (initialReferencePoint != null) {
+                    double distanceDeg = Math.sqrt(
+                            Math.pow(position.latitude - initialReferencePoint.latitude, 2) +
+                                    Math.pow(position.longitude - initialReferencePoint.longitude, 2));
+
+                    // If position is more than 0.5 degrees away from reference (very large distance),
+                    // log a warning and revert to a more conservative estimate
+                    if (distanceDeg > 0.5) {
+                        Log.w(TAG, "Position estimate too far from reference: " + position +
+                                " vs " + initialReferencePoint + ". Distance: " + distanceDeg + " degrees");
+
+                        // Force the position to be near the reference (for safety)
+                        if (position.latitude > 90 || position.latitude < -90 ||
+                                position.longitude > 180 || position.longitude < -180) {
+
+                            Log.e(TAG, "Invalid coordinates detected, resetting to reference point");
+
+                            // Use reference point (or a slight offset from it)
+                            float[] xy = getTransformedCoordinate(initialReferencePoint);
+                            SimpleMatrix safeState = new SimpleMatrix(2, 1, true,
+                                    new double[] { xy[0], xy[1] });
+
+                            // Apply the safe position
+                            stateWindow[windowSize - 1] = safeState;
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    /**
+     * Helper method to fill a 2x2 block in the information matrix.
+     * 
+     * This utility method efficiently copies values from a 2x2 matrix block
+     * into a specific location within the larger information matrix used in
+     * batch optimization. It's used repeatedly to construct the sparse block
+     * structure of the information matrix that represents relationships between
+     * consecutive states and measurement constraints.
+     * 
+     * @param H The target information matrix to fill
+     * @param block The 2x2 source matrix block to copy
+     * @param row The starting row index in the target matrix
+     * @param col The starting column index in the target matrix
+     * 
+     * @author Joseph Azrak
+     */
+    private void fillInfoMatrixBlock(SimpleMatrix H, SimpleMatrix block, int row, int col) {
+        for (int i = 0; i < 2; i++) {
+            for (int j = 0; j < 2; j++) {
+                H.set(row + i, col + j, block.get(i, j));
+            }
+        }
+    }
+
+    /**
+     * Helper method to add a measurement constraint to the information matrix and vector.
+     * 
+     * This method incorporates a sensor measurement (GNSS or WiFi) into the optimization
+     * problem by updating the information matrix and vector. It calculates the error
+     * between the current state estimate and the measurement, applies safety limits,
+     * and adds the weighted contribution to the system.
+     * 
+     * The method performs several important steps:
+     * 1. Performs validation to ensure measurements are valid
+     * 2. Computes the information matrix contribution (using the inverse of R)
+     * 3. Calculates the error between the current state and the measurement
+     * 4. Applies clamping to prevent extreme updates
+     * 5. Adds the weighted contribution to the information vector
+     * 
+     * The method includes error handling for matrix inversion failures.
+     * 
+     * @param H The information matrix to update
+     * @param b The information vector to update
+     * @param stateIdx The index of the state that this measurement constrains
+     * @param measurement The 2x1 measurement vector [x, y]
+     * @param R The 2x2 measurement noise covariance matrix
+     * 
+     * @author Joseph Azrak
+     */
+    private void addMeasurementConstraint(SimpleMatrix H, SimpleMatrix b, int stateIdx,
+                                          SimpleMatrix measurement, SimpleMatrix R) {
+        // If measurement is null or state is null, skip
+        if (measurement == null || stateWindow[stateIdx] == null) {
+            return;
+        }
+
+        // Check for invalid measurements
+        for (int i = 0; i < measurement.getNumElements(); i++) {
+            if (!Double.isFinite(measurement.get(i))) {
+                Log.w(TAG, "Skipping non-finite measurement at state " + stateIdx);
+                return;
+            }
+        }
+
+        // Information from this measurement (inverse of R)
+        SimpleMatrix Rinv;
+        try {
+            Rinv = R.invert();
+        } catch (Exception e) {
+            Log.e(TAG, "Failed to invert R matrix, using simplified version", e);
+            // Fallback to diagonal matrix if inversion fails
+            Rinv = SimpleMatrix.identity(2).scale(1.0/1.0);
+        }
+
+        // Add to the diagonal block for this state
+        fillInfoMatrixBlock(H, Rinv, stateIdx*2, stateIdx*2);
+
+        // Calculate error between current state and measurement
+        SimpleMatrix error = measurement.minus(stateWindow[stateIdx]);
+
+        // Clamp error values to prevent extreme updates
+        for (int i = 0; i < error.getNumElements(); i++) {
+            double val = error.get(i);
+            error.set(i, clamp(val, -MAX_UPDATE_THRESHOLD, MAX_UPDATE_THRESHOLD));
+        }
+
+        // Add to information vector
+        SimpleMatrix contribution = Rinv.mult(error);
+        b.insertIntoThis(stateIdx*2, 0, b.extractMatrix(stateIdx*2, stateIdx*2 + 2, 0, 1).plus(contribution));
+    }
+
+    /**
+     * Returns the current state estimate (most recent state in the window).
+     * 
+     * This method provides access to the latest optimized position estimate,
+     * which is the last state in the window after batch optimization has been
+     * performed. The state vector contains x and y coordinates in the UTM
+     * coordinate system.
+     * 
+     * If the window is empty (which should not happen during normal operation),
+     * the method returns null.
+     *
+     * @return 2x1 state vector [x; y] in UTM coordinates, or null if no state is available
+     * 
+     * @author Joseph Azrak
+     */
+    public SimpleMatrix getState() {
+        if (windowSize > 0) {
+            return stateWindow[windowSize - 1];
+        } else {
+            return null;
+        }
+    }
+
+    /**
+     * Returns the entire window of state estimates.
+     * 
+     * This method provides access to all position estimates currently in the window,
+     * allowing access to the full trajectory history that has been optimized by
+     * the batch algorithm. The returned array contains only the valid states
+     * (up to windowSize), trimmed to the actual number of states present.
+     * 
+     * Each state in the array is a 2x1 vector containing the x and y coordinates
+     * in the UTM coordinate system.
+     *
+     * @return Array of 2x1 state vectors [x; y] in UTM coordinates, sized to match the current window size
+     * 
+     * @author Joseph Azrak
+     */
+    public SimpleMatrix[] getStateWindow() {
+        SimpleMatrix[] result = new SimpleMatrix[windowSize];
+        System.arraycopy(stateWindow, 0, result, 0, windowSize);
+        return result;
+    }
+
+    /**
+     * Returns the timestamps associated with each state in the window.
+     * 
+     * This method provides access to the timestamps corresponding to each position
+     * estimate in the state window. The timestamps indicate when each state estimate
+     * was created, allowing temporal correlation of position data with other events
+     * or measurements.
+     * 
+     * The returned array is trimmed to match the current window size, with each element
+     * corresponding to the state at the same index in the state window.
+     *
+     * @return Array of timestamps in milliseconds, sized to match the current window size
+     * 
+     * @author Joseph Azrak
+     */
+    public long[] getTimestamps() {
+        long[] result = new long[windowSize];
+        System.arraycopy(timestamps, 0, result, 0, windowSize);
+        return result;
+    }
+
+    /**
+     * Returns the final position estimate as a LatLng object.
+     * 
+     * This method converts the most recent state estimate from UTM coordinates to
+     * geographic coordinates (latitude and longitude) that can be used directly with
+     * mapping APIs. The conversion uses the UTM zone that was determined when processing
+     * GNSS data.
+     * 
+     * The method includes error handling to catch potential conversion errors and
+     * applies sanity checks to ensure the resulting coordinates are valid.
+     *
+     * @return LatLng object with the position estimate in geographic coordinates, 
+     *         or null if no state is available or conversion fails
+     * 
+     * @author Joseph Azrak
+     */
+    public LatLng getFinalPositionAsLatLng() {
+        SimpleMatrix state = getState();
+        if (state == null) return null;
+
+        float x = (float)state.get(0, 0);
+        float y = (float)state.get(1, 0);
+
+        try {
+            // Convert back to lat/long using correct UTM zone
+            return getInverseTransformedCoordinate(x, y, utmZone, isNorthernHemisphere);
+        } catch (Exception e) {
+            Log.e(TAG, "Error converting position to LatLng: " + e.getMessage(), e);
+            return null;
+        }
+    }
+
+    /**
+     * Helper method to clamp a value within a range.
+     * 
+     * This utility method ensures that a numeric value stays within specified
+     * minimum and maximum bounds. It's used throughout the batch optimization
+     * to prevent extreme values from causing numerical instability or divergence,
+     * particularly when dealing with error terms and state updates.
+     * 
+     * @param value The input value to be clamped
+     * @param min The minimum allowed value
+     * @param max The maximum allowed value
+     * @return The clamped value, guaranteed to be between min and max (inclusive)
+     * 
+     * @author Joseph Azrak
+     */
+    private static double clamp(double value, double min, double max) {
+        return Math.max(min, Math.min(max, value));
+    }
+
+    /**
+     * Checks if all elements in a matrix are finite (not NaN or Infinity).
+     * 
+     * This utility method validates that a matrix contains only finite numerical values.
+     * It's used as a safety check throughout the batch optimization to detect and 
+     * prevent the propagation of invalid values (NaN or Infinity) that could otherwise
+     * cause the algorithm to produce meaningless results or crash.
+     * 
+     * @param matrix The SimpleMatrix to check for finite values
+     * @return true if all elements in the matrix are finite, false otherwise
+     * 
+     * @author Joseph Azrak
+     */
+    private boolean isFinite(SimpleMatrix matrix) {
+        for (int i = 0; i < matrix.getNumElements(); i++) {
+            if (!Double.isFinite(matrix.get(i))) {
+                return false;
+            }
+        }
+        return true;
+    }
+
+    /**
+     * Transforms a LatLng coordinate from WGS84 to UTM.
+     * 
+     * This static utility method converts geographic coordinates (latitude and longitude)
+     * in the WGS84 coordinate system to Universal Transverse Mercator (UTM) coordinates,
+     * which provide a metric representation suitable for mathematical operations.
+     * 
+     * The method:
+     * 1. Determines the appropriate UTM zone based on the longitude
+     * 2. Constructs the proper EPSG code based on latitude (northern/southern hemisphere)
+     * 3. Creates coordinate reference systems and a transformation between them
+     * 4. Performs the coordinate transformation
+     * 5. Includes error handling to prevent crashes
+     *
+     * @param coord_location A LatLng coordinate in WGS84 (latitude and longitude)
+     * @return A float array with [easting, northing] in meters, or [0,0] if conversion fails
+     * 
+     * @author Joseph Azrak
+     */
+    public static float[] getTransformedCoordinate(LatLng coord_location) {
+        if (coord_location == null) {
+            Log.e("BatchSensorFusion", "Null coordinate provided to getTransformedCoordinate");
+            return new float[] { 0, 0 };
+        }
+
+        int zone = (int) Math.floor((coord_location.longitude + 180) / 6) + 1;
+        String epsgCode;
+        if (coord_location.latitude >= 0) {
+            epsgCode = String.format("EPSG:326%02d", zone);
+        } else {
+            epsgCode = String.format("EPSG:327%02d", zone);
+        }
+
+        try {
+            CRSFactory factory = new CRSFactory();
+            CoordinateReferenceSystem srcCrs = factory.createFromName("EPSG:4326"); // WGS84
+            CoordinateReferenceSystem dstCrs = factory.createFromName(epsgCode);
+
+            BasicCoordinateTransform transform = new BasicCoordinateTransform(srcCrs, dstCrs);
+
+            ProjCoordinate srcCoord = new ProjCoordinate(coord_location.longitude, coord_location.latitude);
+            ProjCoordinate dstCoord = new ProjCoordinate();
+
+            transform.transform(srcCoord, dstCoord);
+
+            return new float[] { (float) dstCoord.x, (float) dstCoord.y };
+        } catch (Exception e) {
+            Log.e("BatchSensorFusion", "Error in coordinate transformation: " + e.getMessage(), e);
+            return new float[] { 0, 0 };
+        }
+    }
+
+    /**
+     * Inverse transforms UTM coordinates back to a LatLng (WGS84) coordinate.
+     * 
+     * This static utility method performs the reverse transformation of 
+     * getTransformedCoordinate(), converting from UTM coordinates back to 
+     * geographic coordinates. This is necessary when the position estimate
+     * needs to be displayed on a map or returned to other components that
+     * expect latitude and longitude.
+     * 
+     * The method:
+     * 1. Constructs the proper EPSG code based on UTM zone and hemisphere
+     * 2. Creates coordinate reference systems and a transformation between them
+     * 3. Performs the coordinate transformation
+     * 4. Applies sanity checks to ensure valid geographic coordinates
+     * 5. Includes error handling to prevent crashes
+     *
+     * @param easting The UTM easting coordinate in meters
+     * @param northing The UTM northing coordinate in meters
+     * @param zone The UTM zone number (1-60)
+     * @param isNorthern True if the coordinate is in the northern hemisphere
+     * @return A LatLng coordinate (latitude, longitude), or null if conversion fails
+     * 
+     * @author Joseph Azrak
+     */
+    public static LatLng getInverseTransformedCoordinate(float easting, float northing, int zone, boolean isNorthern) {
+        String epsgCode;
+        if (isNorthern) {
+            epsgCode = String.format("EPSG:326%02d", zone);
+        } else {
+            epsgCode = String.format("EPSG:327%02d", zone);
+        }
+
+        try {
+            CRSFactory factory = new CRSFactory();
+            CoordinateReferenceSystem srcCrs = factory.createFromName(epsgCode);      // UTM CRS
+            CoordinateReferenceSystem dstCrs = factory.createFromName("EPSG:4326");     // WGS84
+
+            BasicCoordinateTransform transform = new BasicCoordinateTransform(srcCrs, dstCrs);
+
+            ProjCoordinate srcCoord = new ProjCoordinate(easting, northing);
+            ProjCoordinate dstCoord = new ProjCoordinate();
+
+            transform.transform(srcCoord, dstCoord);
+
+            double lat = dstCoord.y;
+            double lon = dstCoord.x;
+
+            // Apply sanity checks to the coordinates
+            lat = clamp(lat, -90.0, 90.0);
+            lon = clamp(lon, -180.0, 180.0);
+
+            // Note: dstCoord.x contains longitude and dstCoord.y contains latitude.
+            return new LatLng(lat, lon);
+        } catch (Exception e) {
+            Log.e("BatchSensorFusion", "Error in inverse coordinate transformation: " + e.getMessage(), e);
+            return null;
+        }
+    }
+}
\ No newline at end of file
diff --git a/app/src/main/java/com/openpositioning/PositionMe/sensors/EKFSensorFusion.java b/app/src/main/java/com/openpositioning/PositionMe/sensors/EKFSensorFusion.java
new file mode 100644
index 00000000..7bb2beba
--- /dev/null
+++ b/app/src/main/java/com/openpositioning/PositionMe/sensors/EKFSensorFusion.java
@@ -0,0 +1,263 @@
+package com.openpositioning.PositionMe.sensors;
+
+import android.util.Log;
+
+import org.ejml.simple.SimpleMatrix;
+
+import org.locationtech.proj4j.CRSFactory;
+import org.locationtech.proj4j.CoordinateReferenceSystem;
+import org.locationtech.proj4j.BasicCoordinateTransform;
+import org.locationtech.proj4j.ProjCoordinate;
+import com.google.android.gms.maps.model.LatLng;
+
+/**
+ * Class for Extended Kalman Filter
+ * Uses PDR, WIFI and GNSS data to compute the fused position estimate
+ * Is instantiated in SensorFusion class
+ * @author Stone Anderson
+ * @author Joseph Azrak
+ */
+public class EKFSensorFusion {
+
+    private SimpleMatrix x;
+    private SimpleMatrix P;
+    private SimpleMatrix Q;
+    private SimpleMatrix R_gnss;
+    private SimpleMatrix R_wifi;
+    private SimpleMatrix R_wifi_adjusted;
+    private SimpleMatrix R_gnss_adjusted;
+    private SimpleMatrix pdrPrev;
+
+    /**
+     * Constructor to initialize the EKF with the given parameters
+     * @param initialState 2x1 initial state vector [x; y]
+     * @param initialCovariance 2x2 initial covariance matrix
+     * @param Q Process noise covariance (2x2)
+     * @param R_gnss  noise covariance for GNSS (2x2)
+     * @param R_wifi  noise covariance for WiFi (2x2)
+     * @author Stone Anderson
+     */
+    public EKFSensorFusion(SimpleMatrix initialState, SimpleMatrix initialCovariance,
+                           SimpleMatrix Q,
+                           SimpleMatrix R_gnss, SimpleMatrix R_wifi) {
+        this.x = initialState;
+        this.P = initialCovariance;
+        this.Q = Q;
+        this.R_gnss = R_gnss;
+        this.R_wifi = R_wifi;
+        this.pdrPrev = null;
+    }
+
+    /**
+     * EKF Prediction step
+     * Computes the PDR displacement, and if movement occurs, updates state and covariance values
+     * If no movement occurs, only updates covariance values
+     *
+     * @param currentPdr - current PDR coordinate (2x1 SimpleMatrix)
+     * @author Stone Anderson
+     */
+    public void predictWithPDR(SimpleMatrix currentPdr) {
+        if (pdrPrev == null) {
+            pdrPrev = currentPdr.copy();
+        } else {
+            // Compute displacement
+            SimpleMatrix u = currentPdr.minus(pdrPrev);
+
+            // Check if displacement occurs
+            double threshold = 0.01;
+            if (u.normF() < threshold) {
+                // No movement detected -  skip state update
+                P = P.plus(Q);
+                return;
+            }
+
+            // update state and covariance
+            x = x.plus(u);
+            P = P.plus(Q);
+            pdrPrev = currentPdr.copy();
+        }
+    }
+
+
+
+    /**
+     * Batch update - Fuses GNSS and WiFi sensor measurements into the state and covariance update.
+     * @param z_gnss (2x1) GNSS coordinate vector.
+     * @param z_wifi (2x1) WiFi coordinate vector
+     * @author Stone Anderson
+     */
+    public void updateBatch(SimpleMatrix z_gnss, SimpleMatrix z_wifi) {
+
+        // Change R_gnss based on how similar gnss is to current position
+        SimpleMatrix innovation_gnss = z_gnss.minus(x);
+        SimpleMatrix S_gnss = P.plus(R_gnss);
+        double mahalanobis_gnss = innovation_gnss.transpose().mult(S_gnss.invert()).mult(innovation_gnss).get(0, 0);
+
+        double thresholdHigh = 12.0;    //  unreliable measurements
+        double thresholdMedium = 9.21;  // moderately off
+        double thresholdLow = 5.0;      // Slightly off
+
+
+        if (mahalanobis_gnss > thresholdHigh) {
+            R_gnss_adjusted = R_gnss.scale(10);
+        } else if (mahalanobis_gnss > thresholdMedium) {
+            R_gnss_adjusted = R_gnss.scale(5);
+        } else if (mahalanobis_gnss > thresholdLow) {
+            R_gnss_adjusted = R_gnss.scale(2);
+        } else {
+            R_gnss_adjusted = R_gnss.copy();
+        }
+
+
+        // Change R_wifi based on how similar wifi is to current position
+        SimpleMatrix innovation_wifi = z_wifi.minus(x);
+        SimpleMatrix S_wifi = P.plus(R_wifi);
+
+        double mahalanobis_wifi = innovation_wifi.transpose().mult(S_wifi.invert()).mult(innovation_wifi).get(0, 0);
+        if (mahalanobis_wifi > thresholdHigh) {
+            R_wifi_adjusted = R_wifi.scale(10);
+        } else if (mahalanobis_wifi > thresholdMedium) {
+            R_wifi_adjusted = R_wifi.scale(5);
+        } else if (mahalanobis_wifi > thresholdLow) {
+            R_wifi_adjusted = R_wifi.scale(2);
+        } else {
+            R_wifi_adjusted = R_wifi.copy();
+        }
+
+
+        // Stack wifi and gnss measurements into 4x1 vector
+        SimpleMatrix z = new SimpleMatrix(4, 1);
+        z.insertIntoThis(0, 0, z_gnss);
+        z.insertIntoThis(2, 0, z_wifi);
+
+        // matrix H (4x2)
+        double[][] hData = {
+                {1, 0},
+                {0, 1},
+                {1, 0},
+                {0, 1}
+        };
+        SimpleMatrix H = new SimpleMatrix(hData);
+
+        // noise covariance R (4x4) - includes R_gnss and R_wifi.
+        SimpleMatrix R = SimpleMatrix.identity(4);
+        R.insertIntoThis(0, 0, R_gnss_adjusted);
+        R.insertIntoThis(2, 2, R_wifi_adjusted);
+
+        // Innovation  y = z - H*x
+        SimpleMatrix y = z.minus(H.mult(x));
+
+        // Innovation covariance S = H * P * H^T + R
+        SimpleMatrix S = H.mult(P).mult(H.transpose()).plus(R);
+
+        // Kalman gain K = P * H^T * S^-1
+        SimpleMatrix K = P.mult(H.transpose()).mult(S.invert());
+
+        // Update state x = x + K*y
+        x = x.plus(K.mult(y));
+
+        // Update covariance P = (I - K*H) * P
+        SimpleMatrix I = SimpleMatrix.identity(x.numRows());
+        P = (I.minus(K.mult(H))).mult(P);
+    }
+
+    /**
+     * Returns the current state estimate
+     * @return (2x1) state vector [x; y]
+     * @author Stone Anderson
+     */
+    public SimpleMatrix getState() {
+        return x;
+    }
+    
+    /**
+     * Returns the current position accuracy estimate based on the covariance matrix.
+     * The accuracy is calculated as the square root of the sum of the diagonal elements
+     * of the covariance matrix, which represents the standard deviation of the position estimate.
+     *
+     * @return position accuracy in meters
+     * @author Joseph Azrak
+     */
+    public double getPositionAccuracy() {
+        if (P == null) return Double.NaN;
+        
+        // Extract diagonal elements (variances)
+        double varX = P.get(0, 0);
+        double varY = P.get(1, 1);
+        
+        // Calculate DRMS (Distance Root Mean Square) accuracy - DRMS is a common accuracy metric for 2D position
+        return Math.sqrt(varX + varY);
+    }
+
+    /**
+     * Transforms corodinates from LatLng WGS84 to x,y UTM.
+     *
+     * @param coord_location LatLng coordinate in WGS84.
+     * @return A float array x,y coordinate [easting, northing].
+     * @author Stone Anderson
+     */
+    public static float[] getTransformedCoordinate(LatLng coord_location) {
+        int zone = (int) Math.floor((coord_location.longitude + 180) / 6) + 1;
+        String epsgCode;
+        if (coord_location.latitude >= 0) {
+            epsgCode = String.format("EPSG:326%02d", zone);
+        } else {
+            epsgCode = String.format("EPSG:327%02d", zone);
+        }
+
+        CRSFactory factory = new CRSFactory();
+        CoordinateReferenceSystem srcCrs = factory.createFromName("EPSG:4326"); // WGS84
+        CoordinateReferenceSystem dstCrs = factory.createFromName(epsgCode);
+
+        BasicCoordinateTransform transform = new BasicCoordinateTransform(srcCrs, dstCrs);
+
+        ProjCoordinate srcCoord = new ProjCoordinate(coord_location.longitude, coord_location.latitude);
+        ProjCoordinate dstCoord = new ProjCoordinate();
+
+        transform.transform(srcCoord, dstCoord);
+
+        return new float[] { (float) dstCoord.x, (float) dstCoord.y };
+    }
+
+    /**
+     * Inverse transforms x,y UTM coordinates back to LatLng (WGS84) coordinate.
+     *
+     * @param easting The UTM easting.
+     * @param northing The UTM northing.
+     * @param zone The UTM zone.
+     * @param isNorthern True if the coordinate is in the northern hemisphere.
+     * @return A LatLng coordinate (latitude, longitude).
+     * @author Stone Anderson
+     */
+    public static LatLng getInverseTransformedCoordinate(float easting, float northing, int zone, boolean isNorthern) {
+        String epsgCode;
+        if (isNorthern) {
+            epsgCode = String.format("EPSG:326%02d", zone);
+        } else {
+            epsgCode = String.format("EPSG:327%02d", zone);
+        }
+
+        CRSFactory factory = new CRSFactory();
+        CoordinateReferenceSystem srcCrs = factory.createFromName(epsgCode);      // UTM CRS
+        CoordinateReferenceSystem dstCrs = factory.createFromName("EPSG:4326");     // WGS84
+
+        BasicCoordinateTransform transform = new BasicCoordinateTransform(srcCrs, dstCrs);
+
+        ProjCoordinate srcCoord = new ProjCoordinate(easting, northing);
+        ProjCoordinate dstCoord = new ProjCoordinate();
+
+        transform.transform(srcCoord, dstCoord);
+        return new LatLng(dstCoord.y, dstCoord.x);
+    }
+}
+
+
+
+
+
+
+
+
+
+
+
diff --git a/app/src/main/java/com/openpositioning/PositionMe/sensors/ParticleAttribute.java b/app/src/main/java/com/openpositioning/PositionMe/sensors/ParticleAttribute.java
new file mode 100644
index 00000000..4768bfa3
--- /dev/null
+++ b/app/src/main/java/com/openpositioning/PositionMe/sensors/ParticleAttribute.java
@@ -0,0 +1,25 @@
+package com.openpositioning.PositionMe.sensors;
+
+// to generate random location for testing without presence of wifi/gnss
+import java.util.Random;
+
+/**
+ * This class creates individual particles, and assign attributes to them such as location
+ * and weight
+ * This will be further utilised in ParticleFilter class
+ *
+ * @author Sofea Jazlan Arif
+ */
+
+public class ParticleAttribute {
+    public float lat, lon;
+    public float weight;
+
+    public ParticleAttribute(float lat, float lon, float weight) {
+        this.lat = lat;
+        this.lon = lon;
+        this.weight = weight;
+    }
+
+}
+
diff --git a/app/src/main/java/com/openpositioning/PositionMe/sensors/ParticleFilter.java b/app/src/main/java/com/openpositioning/PositionMe/sensors/ParticleFilter.java
new file mode 100644
index 00000000..b4475096
--- /dev/null
+++ b/app/src/main/java/com/openpositioning/PositionMe/sensors/ParticleFilter.java
@@ -0,0 +1,287 @@
+package com.openpositioning.PositionMe.sensors;
+
+
+import android.util.Log;
+
+import java.util.Iterator;
+import java.util.Random;
+import java.util.List;
+import java.util.ArrayList;
+
+/**
+ * Implements a particle filter algorithm for position estimation.
+ * The particle filter maintains a collection of particles representing potential positions,
+ * and updates their weights based on GNSS measurements to improve position accuracy.
+ *
+ * @author Sofea Jazlan Arif
+ */
+
+public class ParticleFilter {
+    private ArrayList<ParticleAttribute> particles;
+    private int numParticles;
+    private Random rand;
+
+    private float gnssX;
+    private float gnssY;
+    private EKFSensorFusion ekf;
+
+    /**
+     * Constructs a new ParticleFilter with the specified number of particles and initial position.
+     *
+     * @param numParticles Number of particles to be used in the filter
+     * @param gnssX Initial X coordinate from either GNSS or Wi-Fi
+     * @param gnssY Initial Y coordinate from either GNSS or Wi-Fi GNSS
+     * 
+     * @author Sofea Jazlan Arif
+     */
+    public ParticleFilter(int numParticles, float gnssX, float gnssY) {
+        this.numParticles = numParticles;
+        this.particles = new ArrayList<>();
+        this.rand = new Random();
+
+
+        setPosition(gnssX,gnssY);
+        initializeParticles(gnssX, gnssY);
+    }
+
+    /**
+     * Initializes the particles with random positions within 1m radius of the initial GNSS coordinates.
+     * Each particle is assigned an equal initial weight.
+     * The particles are saved within the ArrayList<particles>
+     *
+     * @param gnssX Center X coordinate for particle distribution
+     * @param gnssY Center Y coordinate for particle distribution
+     * 
+     * @author Sofea Jazlan Arif
+     */
+    private void initializeParticles(float gnssX, float gnssY) {
+        Log.d("Random Particle", "New batch ~~" + numParticles);
+        for (int i = 0; i < numParticles; i++) {
+            float lat = gnssX + (rand.nextFloat() * 2 - 1);
+            float lon = gnssY + (rand.nextFloat() * 2 - 1);
+            float weight = (float) (1.0 / numParticles);
+            Log.d("Random Particles","X= " + lat + " Y= " + lon + "particle no" + i);
+            Log.d("Random Particles","Inversed Random Particle" + ekf.getInverseTransformedCoordinate(lat, lon, 30, true));
+            particles.add(new ParticleAttribute(lat, lon, weight));
+        }
+    }
+
+    /**
+     * Returns the current X coordinate from initial position used.
+     *
+     * @return The current X coordinate
+     * 
+     * @author Sofea Jazlan Arif
+     */
+    public float getGnssX() {
+        return gnssX;
+    }
+    
+    /**
+     * Returns the current Y coordinate from initial position used.
+     *
+     * @return The current Y coordinate
+     * 
+     * @author Sofea Jazlan Arif
+     */
+    public float getGnssY() {
+        return gnssY;
+    }
+
+    /**
+     * Updates the current initial position.
+     *
+     * @param gnssX New X coordinate from GNSS or Wi-Fi
+     * @param gnssY New Y coordinate from GNSS or Wi-Fi
+     * 
+     * @author Sofea Jazlan Arif
+     */
+    public void setPosition(float gnssX, float gnssY) {
+        this.gnssX = gnssX;
+        this.gnssY = gnssY;
+    }
+
+    /**
+     * Predicts the next state of particles based on movement changes based on PDR data.
+     * Applies the movement deltas to each particle with a maximum step limitation
+     * to prevent unrealistic jumps.
+     *
+     * @param deltaX Change in X coordinate
+     * @param deltaY Change in Y coordinate
+     * 
+     * @author Sofea Jazlan Arif
+     */
+    public synchronized void predict(float deltaX, float deltaY) {
+        float maxStep = 0.5f;  // to prevent any large pdr jumps
+
+        for (ParticleAttribute particle : particles) {
+            float moveX = Math.min(maxStep, Math.abs(deltaX)) * Math.signum(deltaX);
+            float moveY = Math.min(maxStep, Math.abs(deltaY)) * Math.signum(deltaY);
+
+            particle.lat += moveX;
+            particle.lon += moveY;
+        }
+    }
+
+    /**
+     * Updates the weights of particles based on their distance to the actual position.
+     * Particles closer to the actual position receive higher weights, using a Gaussian
+     * probability distribution. Weights are normalized to sum to 1.
+     *
+     * @param actualX X coordinate of the reference measured position
+     * @param actualY Y coordinate of the reference measured position
+     * 
+     * @author Sofea Jazlan Arif
+     */
+    public synchronized void updateWeights(double actualX, double actualY) {
+
+        double sumWeights = 0;
+
+//        // Update weights based on how close each particle is to the GNSS measurement
+//        for (ParticleAttribute particle : particles) {
+//            float distance = (float) Math.sqrt(Math.pow(particle.lat - actualX, 2)
+//                    + Math.pow(particle.lon - actualY, 2));
+//            particle.weight = (float) (1.0 / (1.0 + distance * distance));
+//            sumWeights += particle.weight;
+//        }
+
+        // Use an iterator to safely modify particles
+        Iterator<ParticleAttribute> iterator = particles.iterator();
+        while (iterator.hasNext()) {
+            ParticleAttribute particle = iterator.next();
+            float distance = (float) Math.sqrt(Math.pow(particle.lat - actualX, 2) +
+                    Math.pow(particle.lon - actualY, 2));
+
+            particle.weight = (float) Math.exp(-distance * distance / 2.0);
+            sumWeights += particle.weight;
+        }
+
+        // Precaution to avoid division by zero
+        if (sumWeights > 0) {
+            for (ParticleAttribute particle : particles) {
+                particle.weight /= sumWeights;
+            }
+        } else {
+            // Precaution if all weights are zero, assign equal weights to all particles
+            float equalWeight = 1.0f / particles.size();
+            for (ParticleAttribute particle : particles) {
+                particle.weight = equalWeight;
+            }
+        }
+    }
+
+    private float prevEstX = Float.NaN;
+    private float prevEstY = Float.NaN;
+    
+    /**
+     * Resamples particles based on their weights to focus on more likely positions.
+     * This implementation selects the best particles by distance to reference position,
+     * then replicates them with added noise to create a new set of particles.
+     *
+     * @param actualX X coordinate of the reference position
+     * @param actualY Y coordinate of the reference position
+     * 
+     * @author Sofea Jazlan Arif
+     */
+    public synchronized void resample(float actualX, float actualY) {
+        ArrayList<ParticleAttribute> newParticles = new ArrayList<>();
+
+        float referenceX = Float.isNaN(prevEstX) ? actualX : prevEstX;
+        float referenceY = Float.isNaN(prevEstY) ? actualY : prevEstY;
+
+        // Create a copy of particles to avoid concurrent modification
+        ArrayList<ParticleAttribute> particlesCopy = new ArrayList<>(particles);
+        
+        // Finding distance between particles and previous location
+        particlesCopy.sort((p1, p2) -> {
+            double dist1 = Math.sqrt(Math.pow(p1.lat - referenceX, 2) + Math.pow(p1.lon - referenceY, 2));
+            double dist2 = Math.sqrt(Math.pow(p2.lat - referenceX, 2) + Math.pow(p2.lon - referenceY, 2));
+            return Double.compare(dist1, dist2);
+        });
+
+        // Finding the best n particles (either 30% of max 5)
+        int topN = Math.max(5, numParticles / 3);
+        List<ParticleAttribute> bestParticles = new ArrayList<>(particlesCopy.subList(0, topN));
+
+        Random rand = new Random();
+
+        // Replicate the best particles + adding small gaussian noise (to avoid losing particles)
+        while (newParticles.size() < numParticles) {
+            ParticleAttribute p = bestParticles.get(rand.nextInt(bestParticles.size()));
+
+            // Add small Gaussian noise to prevent particle collapse
+            float newLat = p.lat + (float) (rand.nextGaussian() * 0.2);
+            float newLon = p.lon + (float) (rand.nextGaussian() * 0.2);
+
+            newParticles.add(new ParticleAttribute(newLat, newLon, (float) (1.0 / numParticles)));
+        }
+
+        particles = newParticles;
+
+        // Debugging: Print the resampled particles
+        for (int i = 0; i < newParticles.size(); i++) {
+            Log.d("Resampled Particles", "Particle " + i + " -> Lat: " + newParticles.get(i).lat + ", Lon: " + newParticles.get(i).lon);
+        }
+    }
+
+    /**
+     * Calculates the estimated position as a weighted average of all particles.
+     * Returns a new ParticleAttribute with the weighted average coordinates.
+     *
+     * @return A ParticleAttribute containing the estimated position
+     * 
+     * @author Sofea Jazlan Arif
+     */
+    public synchronized ParticleAttribute getEstimatedPosition() {
+        float sumX = 0;
+        float sumY = 0;
+
+        // Create a defensive copy to avoid concurrent modification
+        ArrayList<ParticleAttribute> particlesCopy = new ArrayList<>(particles);
+
+        for (ParticleAttribute particle : particlesCopy) {
+            sumX += particle.lat * particle.weight;
+            sumY += particle.lon * particle.weight;
+        }
+
+        return new ParticleAttribute(sumX, sumY, 0);
+    }
+    
+    /**
+     * Calculate the position accuracy estimate based on the particle dispersion.
+     * This uses the weighted standard deviation of particle positions to estimate accuracy.
+     * 
+     * @return The estimated accuracy in meters
+     * 
+     * @author Joseph Azrak
+     */
+    public synchronized double getPositionAccuracy() {
+        if (particles == null || particles.isEmpty()) {
+            return Double.NaN;
+        }
+        
+        // Get the estimated position (center of mass)
+        ParticleAttribute estimate = getEstimatedPosition();
+        double centerX = estimate.lat;
+        double centerY = estimate.lon;
+        
+        // Calculate weighted variance
+        double varX = 0;
+        double varY = 0;
+        
+        // Create a defensive copy to avoid concurrent modification
+        ArrayList<ParticleAttribute> particlesCopy = new ArrayList<>(particles);
+        
+        for (ParticleAttribute particle : particlesCopy) {
+            double dx = particle.lat - centerX;
+            double dy = particle.lon - centerY;
+            varX += particle.weight * dx * dx;
+            varY += particle.weight * dy * dy;
+        }
+        
+        // Return DRMS (similar to EKF accuracy calculation for consistency)
+        return Math.sqrt(varX + varY);
+    }
+
+
+}
\ No newline at end of file
diff --git a/app/src/main/java/com/openpositioning/PositionMe/sensors/SensorFusion.java b/app/src/main/java/com/openpositioning/PositionMe/sensors/SensorFusion.java
index 6eca847c..756478fa 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/sensors/SensorFusion.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/sensors/SensorFusion.java
@@ -12,18 +12,22 @@
 import android.os.PowerManager;
 import android.os.SystemClock;
 import android.util.Log;
+import android.widget.Toast;
 
 import androidx.annotation.NonNull;
 import androidx.preference.PreferenceManager;
 
 import com.google.android.gms.maps.model.LatLng;
 import com.openpositioning.PositionMe.presentation.activity.MainActivity;
+import com.openpositioning.PositionMe.utils.FallDetectionService;
 import com.openpositioning.PositionMe.utils.PathView;
 import com.openpositioning.PositionMe.utils.PdrProcessing;
 import com.openpositioning.PositionMe.data.remote.ServerCommunications;
 import com.openpositioning.PositionMe.Traj;
 import com.openpositioning.PositionMe.presentation.fragment.SettingsFragment;
 
+
+import org.ejml.simple.SimpleMatrix;
 import org.json.JSONException;
 import org.json.JSONObject;
 
@@ -56,6 +60,10 @@
  * @author Michal Dvorak
  * @author Mate Stodulka
  * @author Virginia Cangelosi
+ * @author Stone Anderson
+ * @author Sofea Jazlan Arif
+ * @author Semih Vazgecen
+ * @author Joseph Azrak
  */
 public class SensorFusion implements SensorEventListener, Observer {
 
@@ -100,6 +108,9 @@ public class SensorFusion implements SensorEventListener, Observer {
     private MovementSensor rotationSensor;
     private MovementSensor gravitySensor;
     private MovementSensor linearAccelerationSensor;
+    // Fall detection service
+    private FallDetectionService fallDetection;
+
     // Other data recording
     private WifiDataProcessor wifiProcessor;
     private GNSSDataProcessor gnssProcessor;
@@ -117,6 +128,11 @@ public class SensorFusion implements SensorEventListener, Observer {
     // Variables to help with timed events
     private long absoluteStartTime;
     private long bootTime;
+    
+    // Getter for bootTime to calculate relative timestamps
+    public long getBootTime() {
+        return bootTime;
+    }
     long lastStepTime = 0;
     // Timer object for scheduling data recording
     private Timer storeTrajectoryTimer;
@@ -144,6 +160,8 @@ public class SensorFusion implements SensorEventListener, Observer {
     private float latitude;
     private float longitude;
     private float[] startLocation;
+    // Track the provider of the last GNSS update
+    private String lastGnssProvider = null;
     // Wifi values
     private List<Wifi> wifiList;
 
@@ -158,6 +176,14 @@ public class SensorFusion implements SensorEventListener, Observer {
     private PathView pathView;
     // WiFi positioning object
     private WiFiPositioning wiFiPositioning;
+    private EKFSensorFusion ekf;
+    private ParticleFilter particleFilter;
+
+    private Float prevPDRX = null;
+    private Float prevPDRY = null;
+    // Temporary list for added tags
+    private List<Traj.GNSS_Sample> taggedLocations = new ArrayList<>();
+
 
     //region Initialisation
     /**
@@ -194,6 +220,52 @@ private SensorFusion() {
     }
 
 
+    /**
+     * Initializes the Extended Kalman Filter (EKF) with the starting position.
+     * @param startPosition - float of starting position [latitude, longitude]
+     * @author Stone Anderson
+     */
+    public void initializeEKF(float[] startPosition) {
+
+        float latitude = startPosition[0];
+        float longitude = startPosition[1];
+        // Convert start position (lat, lon) to (x, y)
+        float[] initialXY = EKFSensorFusion.getTransformedCoordinate(new LatLng(latitude, longitude));
+        // Create initial state vector (2x1 matrix)
+        SimpleMatrix initialState = new SimpleMatrix(2, 1, true, new double[]{ initialXY[0], initialXY[1] });
+
+        // Initialize covariance and noise matrices
+        SimpleMatrix initialCovariance = SimpleMatrix.identity(2).scale(1.0);
+        SimpleMatrix Q = SimpleMatrix.identity(2).scale(0.1);
+
+        // Initialize GNSS and WiFi noise covariances
+        SimpleMatrix R_gnss = SimpleMatrix.identity(2).scale(1.0);
+        SimpleMatrix R_wifi = SimpleMatrix.identity(2).scale(1.0);
+
+        // Instantiate EKF
+        this.ekf = new EKFSensorFusion(initialState, initialCovariance, Q, R_gnss, R_wifi);
+    }
+
+    /**
+     * Initializes the Particle Filter with the starting position.
+     * Transforms initial coordinates (from GNSS to Wi-Fi) to a metric coordinate system and
+     * creates a new ParticleFilter with the specified number of particles.
+     *
+     * @param startPosition An array containing the starting position as [latitude, longitude]
+     * 
+     * @author Sofea Jazlan Arif
+     */
+    public void initializeParticle(float[] startPosition)
+    {
+        float latitude = startPosition[0];
+        float longitude = startPosition[1];
+
+        // Convert GNSS (lat, lon) to a metric coordinate system (x, y)
+        float[] initialXY = EKFSensorFusion.getTransformedCoordinate(new LatLng(latitude, longitude));
+
+        this.particleFilter = new ParticleFilter(50, initialXY[0], initialXY[1]);
+    }
+
     /**
      * Static function to access singleton instance of SensorFusion.
      *
@@ -250,15 +322,31 @@ public void setContext(Context context) {
         this.pathView = new PathView(context, null);
         this.wiFiPositioning = new WiFiPositioning(context);
 
+        //
+
+
+
+
         if(settings.getBoolean("overwrite_constants", false)) {
             this.filter_coefficient = Float.parseFloat(settings.getString("accel_filter", "0.96"));
         } else {
             this.filter_coefficient = FILTER_COEFFICIENT;
         }
+        
+        // Initialize the GNSS max error setting if it doesn't exist
+        if (!settings.contains("gnss_max_error")) {
+            SharedPreferences.Editor editor = settings.edit();
+            editor.putString("gnss_max_error", "20"); // Default is 20 meters as a string
+            editor.apply();
+        }
 
         // Keep app awake during the recording (using stored appContext)
         PowerManager powerManager = (PowerManager) this.appContext.getSystemService(Context.POWER_SERVICE);
         wakeLock = powerManager.newWakeLock(PowerManager.PARTIAL_WAKE_LOCK, "MyApp::MyWakelockTag");
+
+        fallDetection = new FallDetectionService(context);
+        // Register fall detection listener
+        fallDetection.setFallListener(() -> handleFallDetected());
     }
 
     //endregion
@@ -295,7 +383,7 @@ public void onSensorChanged(SensorEvent sensorEvent) {
         lastEventTimestamps.put(sensorType, currentTime);
         eventCounts.put(sensorType, eventCounts.getOrDefault(sensorType, 0) + 1);
 
-
+        fallDetection.processAcceleration(acceleration[0], acceleration[1], acceleration[2], currentTime); // Send to FallDetection
 
         switch (sensorType) {
             case Sensor.TYPE_ACCELEROMETER:
@@ -439,12 +527,28 @@ class myLocationListener implements LocationListener{
         @Override
         public void onLocationChanged(@NonNull Location location) {
             //Toast.makeText(context, "Location Changed", Toast.LENGTH_SHORT).show();
+            float accuracy = (float) location.getAccuracy();
+            
+            // Get the maximum allowable GNSS error from settings as a string and convert to float
+            float maxGnssError = Float.parseFloat(settings.getString("gnss_max_error", "20"));
+            
+            // Filter out inaccurate GNSS readings
+            if (accuracy > maxGnssError) {
+                Log.w("SensorFusion", "Ignoring erroneous GNSS reading. Accuracy: " + 
+                      accuracy + "m exceeds threshold: " + maxGnssError + "m");
+                return; // Skip processing this location update
+            }
+            
+            // If accuracy is acceptable, process the location
             latitude = (float) location.getLatitude();
             longitude = (float) location.getLongitude();
             float altitude = (float) location.getAltitude();
-            float accuracy = (float) location.getAccuracy();
             float speed = (float) location.getSpeed();
             String provider = location.getProvider();
+            
+            // Store the provider for filtering out tag data in position calculation
+            lastGnssProvider = provider;
+            
             if(saveRecording) {
                 trajectory.addGnssData(Traj.GNSS_Sample.newBuilder()
                         .setAccuracy(accuracy)
@@ -458,6 +562,334 @@ public void onLocationChanged(@NonNull Location location) {
         }
     }
 
+    // Semih - ADD
+    /**
+     * Handles the event when a fall is detected by the fall detection service.
+     * This method is called as a callback from the FallDetectionService when
+     * acceleration patterns indicate a possible fall event.
+     * 
+     * @author Semih Vazgecen
+     */
+    private void handleFallDetected() {
+        Log.e("SensorFusion", "FALL DETECTED! Sending alert...");
+    }
+
+    /**
+     * Sets the initial position of the trajectory using the provided latitude and longitude.
+     *
+     * @param lat   The latitude of the initial position.
+     * @param longi The longitude of the initial position.
+     */
+    /**
+     * Sets the initial position of the trajectory using the provided latitude and longitude.
+     * This method creates an Initial_Pos builder with the given coordinates and sets it
+     * in the trajectory builder.
+     *
+     * @param lat The latitude of the initial position
+     * @param longi The longitude of the initial position
+     * 
+     * @author Semih Vazgecen
+     */
+    public void writeInitialPositionToTraj(float lat, float longi)
+    {
+        trajectory.setInitialPos(createInitialPosBuilder(lat, longi));
+    }
+    // Semih - END
+
+
+    long lastUpdateTime = 0;
+    long updateIntervalMs = 2000; // Update every 2 seconds
+    double movementThreshold = 0.01; // Define a meaningful movement threshold
+
+    /**
+     * Updates the Extended Kalman Filter with new sensor data (PDR, WIFI and GNSS) to estimate new position
+     * This update only occurs every 2 seconds, if there is pdr displacement, and if ekf object is not null
+     * @author Stone Anderson
+     */
+    public void updateEKF() {
+
+        // log time so updateEKF is called only every 2 seconds
+        long currentTime = SystemClock.uptimeMillis();
+        if (currentTime - lastUpdateTime < updateIntervalMs) {
+            return;
+        }
+
+        // Get PDR measurement, compute displacement and only updateEKF if movement has been detected
+        float[] pdrXY = pdrProcessing.getPDRMovement();
+        double pdrMovement = Math.sqrt(pdrXY[0] * pdrXY[0] + pdrXY[1] * pdrXY[1]);
+        if (pdrMovement < movementThreshold) {
+            return;
+        }
+
+        // makes sure ekf is initialised
+        if (ekf == null) return;
+
+        // get GNSS data and convert it to (x,y)
+        float[] gnssLatLong = getGNSSLatitude(false);
+        if (lastGnssProvider != null && "fusion".equals(lastGnssProvider)) {
+            Log.d("SensorFusion", "Skipping EKF update with tag data");
+            return;
+        }
+        float[] gnssXY = EKFSensorFusion.getTransformedCoordinate(new LatLng(gnssLatLong[0], gnssLatLong[1]));
+
+
+        // Get WiFi data (if available) and convert it to (x,y)
+        LatLng wifiLatLng = getLatLngWifiPositioning();
+        float[] wifiXY;
+        if (wifiLatLng != null) {
+            wifiXY = EKFSensorFusion.getTransformedCoordinate(wifiLatLng);
+        } else {
+            wifiXY = gnssXY; // if WiFi data is unavailable, use GNSS coordinates
+        }
+
+        // Get PDR data
+        pdrXY = pdrProcessing.getPDRMovement();
+
+        // Convert measurements to 2x1 SimpleMatrix objects
+        SimpleMatrix z_gnss = new SimpleMatrix(2, 1, true, new double[]{ gnssXY[0], gnssXY[1] });
+        SimpleMatrix z_wifi = new SimpleMatrix(2, 1, true, new double[]{ wifiXY[0], wifiXY[1] });
+        SimpleMatrix z_pdr = new SimpleMatrix(2, 1, true, new double[]{ pdrXY[0], pdrXY[1] });
+
+
+        // Use latest PDR data for prediction.
+        ekf.predictWithPDR(z_pdr);
+
+        // Use GNSS and WiFi data for update
+        ekf.updateBatch(z_gnss, z_wifi);
+
+        // track time
+        lastUpdateTime = currentTime;
+
+        // get estimate location
+        LatLng fusedLocation = getEKFStateAsLatLng();
+
+        // store estimate fused location for replay purposes
+        if (saveRecording) {
+            addFusedPosition(fusedLocation, SystemClock.uptimeMillis() - bootTime, "EKF");
+        }
+
+    }
+
+    // Add a flag to prevent concurrent updates
+    private volatile boolean isParticleUpdating = false;
+    private ParticleAttribute lastParticlePosition = null;
+    
+    /**
+     * Updates the Particle Filter with new sensor measurements.
+     * This method calculates the movement deltas from PDR and uses GNSS and WiFi
+     * positioning data to update the particle filter. It implements thread safety
+     * by using a flag to prevent concurrent updates.
+     * 
+     * The process involves:
+     * 1. Getting GNSS and WiFi position data
+     * 2. Calculating PDR movement deltas since the last update
+     * 3. Running the particle filter with these inputs
+     * 4. Storing and returning the estimated position
+     *
+     * @return The estimated position as a ParticleAttribute or null if filter hasn't been initialized
+     * 
+     * @author Sofea Jazlan Arif
+     */
+    public ParticleAttribute updateParticle(){
+        Log.d("Particle Filter", "UPDATES PARTICLE = " );
+        if (particleFilter == null) return null;
+        
+        // If an update is already in progress, return the last position
+        if (isParticleUpdating) {
+            Log.d("Particle Filter", "Skipping update - already in progress");
+            return lastParticlePosition;
+        }
+        
+        // Set flag to prevent concurrent updates
+        isParticleUpdating = true;
+        
+        try {
+            // Check if this is real GNSS data (not a user tag)
+            if (lastGnssProvider != null && isUserTagProvider(lastGnssProvider)) {
+                Log.d("SensorFusion", "Skipping Particle update with tag data");
+                return lastParticlePosition;
+            }
+            
+            float[] gnssLatLong = getGNSSLatitude(false);
+            float[] gnssXY = EKFSensorFusion.getTransformedCoordinate(new LatLng(gnssLatLong[0], gnssLatLong[1]));
+    
+            LatLng wifiLatLng = getLatLngWifiPositioning();
+            float[] wifiXY;
+            if (wifiLatLng != null) {
+                wifiXY = EKFSensorFusion.getTransformedCoordinate(wifiLatLng);
+            } else {
+                wifiXY = gnssXY;
+            }
+    
+            float wifiLat = wifiXY[0];
+            float wifiLon = wifiXY[1];
+    
+            // get PDR location for step prediction
+            float[] pdrXY = pdrProcessing.getPDRMovement();
+    
+            Log.d("PDR Particle Filter", "PDR X " + pdrXY[0] + " PDR Y: " + pdrXY[1]);
+    
+            float gnssLat = gnssXY[0];
+            float gnssLon = gnssXY[1];
+    
+            float deltaX, deltaY;
+    
+            if (prevPDRX == null || prevPDRY == null){
+                deltaX = pdrXY[0] - 0;
+                deltaY = pdrXY[1] - 0;
+                Log.d("PDR Particle Filter", "Initial X " + gnssLat + " Initial Y: " + gnssLon);
+                Log.d("PDR Particle Filter", "Initial PDR X " + pdrXY[0] + " PDR Y: " + pdrXY[1]);
+                Log.d("PDR Particle Filter", "Initial delta PDR X " + deltaX + " delta PDR Y: " + deltaY);
+            } else {
+                deltaX = pdrXY[0] - prevPDRX;
+                deltaY = pdrXY[1] - prevPDRY;
+            }
+    
+            prevPDRX = pdrXY[0];
+            prevPDRY = pdrXY[1];
+    
+            Log.d("PDR Particle Filter", "PDR X " + pdrXY[0] + " PDR Y: " + pdrXY[1]);
+            Log.d("PDR Particle Filter", "delta PDR X " + deltaX + " delta PDR Y: " + deltaY);
+    
+            lastParticlePosition = runParticleFilter(wifiLat, wifiLon, 5, deltaX, deltaY);
+    
+            return lastParticlePosition;
+        } finally {
+            // Always clear the flag when done
+            isParticleUpdating = false;
+        }
+    }
+
+    /**
+     * Runs the particle filter algorithm for a specified number of iterations.
+     * This method performs the predict-update-resample cycle of particle filtering
+     * to refine position estimates based on movement data and reference positions.
+     *
+     * @param startX The x-coordinate of the reference position (usually from WiFi or GNSS)
+     * @param startY The y-coordinate of the reference position
+     * @param numIterations The number of iterations to run the filter
+     * @param deltaX The change in x-coordinate since the last update (from PDR)
+     * @param deltaY The change in y-coordinate since the last update (from PDR)
+     * @return The estimated position after running the particle filter
+     * 
+     * @author Sofea Jazlan Arif
+     */
+    private ParticleAttribute runParticleFilter(float startX, float startY, int numIterations, float deltaX, float deltaY) {
+        particleFilter.setPosition(startX, startY);
+
+        float prevEstX = particleFilter.getEstimatedPosition().lat;
+        float prevEstY = particleFilter.getEstimatedPosition().lon;
+
+        for (int i = 0; i < numIterations; i++) {
+            // Predict the new positions of particles
+            particleFilter.predict(deltaX, deltaY);
+
+            // Update weights using the reference position
+            particleFilter.updateWeights(startX, startY);
+
+            // Resample to refine estimates
+            particleFilter.resample(startX, startY);
+        }
+
+
+
+        // Get the estimated position after 10 iterations
+        return particleFilter.getEstimatedPosition();
+    }
+
+    /// END
+
+
+    /**
+     * Gets the current state of the Extended Kalman Filter as latitude, longitude coordinates
+     * @return A LatLng object of coordinates of the current EKF state
+     * @author Stone Anderson
+     */
+    public LatLng getEKFStateAsLatLng() {
+        if (ekf == null) return null;
+        SimpleMatrix state = ekf.getState();
+        float x = (float) state.get(0, 0);
+        float y = (float) state.get(1, 0);
+        return ekf.getInverseTransformedCoordinate(x, y, 30, true);
+    }
+    
+    /**
+     * Returns the accuracy estimate of the EKF position in meters.
+     * This represents the uncertainty in the position estimate.
+     * 
+     * @return The position accuracy in meters, or NaN if EKF is not initialized
+     * 
+     * @author
+     */
+    public double getEKFPositionAccuracy() {
+        if (ekf == null) return Double.NaN;
+        return ekf.getPositionAccuracy();
+    }
+
+    /**
+     * Converts the Particle Filter estimated position to geographic coordinates.
+     * Takes a ParticleAttribute containing position in the metric coordinate system
+     * and converts it back to latitude and longitude.
+     *
+     * @param estimatedPos The estimated position from the Particle Filter in metric coordinates
+     * @return A LatLng object containing the geographic coordinates of the position,
+     *         or null if the Particle Filter hasn't been initialized
+     * 
+     * @author Sofea Jazlan Arif
+     */
+    public LatLng getParticleStateAsLatLng(ParticleAttribute estimatedPos) {
+        if (particleFilter == null) return null;
+        ParticleAttribute estimatedLoc = estimatedPos;
+        // Convert x,y back to latitude and longitude.
+        // For example, for Scotland, UTM zone 30 in the Northern Hemisphere is typically used.
+        return ekf.getInverseTransformedCoordinate( (float)estimatedLoc.lat,  (float)estimatedLoc.lon, 30, true);
+    }
+    
+    /**
+     * Returns the accuracy estimate of the Particle Filter position in meters.
+     * This is based on the dispersion of particles and represents uncertainty.
+     * 
+     * @return The position accuracy in meters, or NaN if Particle Filter is not initialized
+     * 
+     * @author Sofea Jazlan Arif
+     */
+    public double getParticlePositionAccuracy() {
+        if (particleFilter == null) return Double.NaN;
+        return particleFilter.getPositionAccuracy();
+    }
+
+
+
+
+    /**
+     * Adds a fused position to the trajectory.
+     * Creates a Fused_Pos object with the given location, timestamp, and algorithm information
+     * and adds it to the trajectory being recorded.
+     *
+     * @param fusedLocation The geographic coordinates of the fused position
+     * @param relativeTimestamp The relative timestamp when the position was calculated
+     * @param algorithm The name of the fusion algorithm used (e.g., "EKF", "Particle")
+     * 
+     * @author Semih Vazgecen, Stone Anderson
+     */
+    public void addFusedPosition(LatLng fusedLocation, long relativeTimestamp, String algorithm) {
+        Traj.Fused_Pos fusedPos = Traj.Fused_Pos.newBuilder()
+                .setRelativeTimestamp(relativeTimestamp)
+                .setLatitude((float) fusedLocation.latitude)
+                .setLongitude((float) fusedLocation.longitude)
+                .setAlgorithm(algorithm)
+                .build();
+
+        trajectory.addFusedPos(fusedPos);
+
+        Log.d("SensorFusion", "FUSED LAT: " + fusedLocation.latitude +
+                " FUSED LON: " + fusedLocation.longitude +
+                " ALGORITHM: " + algorithm);
+    }
+
+
+
+
     /**
      * {@inheritDoc}
      *
@@ -468,6 +900,7 @@ public void onLocationChanged(@NonNull Location location) {
     @Override
     public void update(Object[] wifiList) {
         // Save newest wifi values to local variable
+        Log.d("SensorFusion", "update(Object[] wifiList) called. Received " + wifiList.length + " items.");
         this.wifiList = Stream.of(wifiList).map(o -> (Wifi) o).collect(Collectors.toList());
 
         if(this.saveRecording) {
@@ -478,8 +911,29 @@ public void update(Object[] wifiList) {
                         .setRelativeTimestamp(SystemClock.uptimeMillis() - bootTime)
                         .setMac(data.getBssid()).setRssi(data.getLevel()));
             }
+
+            // Semih - NEW
+            // Get Wifi Position
+            LatLng wifiPosition = getLatLngWifiPositioning();
+
+            // If the user inside a WiFi positioning-supported building
+            // Write the wifi-positioning data to the trajectory
+            if (wifiPosition == null) {
+                Log.e("SensorFusion", "WiFi Positioning returned null! Skipping position update.");
+            } else {
+                Traj.Position position = Traj.Position.newBuilder()
+                        .setRelativeTimestamp(SystemClock.uptimeMillis() - bootTime)
+                        .setLatitude((float) wifiPosition.latitude)
+                        .setLongitude((float) wifiPosition.longitude)
+                        .setFloor(getWifiFloor())
+                        .build();
+
+                wifiData.setPosition(position);
+                Log.d("SensorFusion", "WIFI LAT: " + wifiPosition.latitude + " WIFI LON: " + wifiPosition.longitude + " FLOOR:" + getWifiFloor());
+            }
             // Adding WiFi data to Trajectory
             this.trajectory.addWifiData(wifiData);
+            // Semih - END
         }
         createWifiPositioningRequest();
     }
@@ -524,12 +978,21 @@ private void createWifiPositionRequestCallback(){
             this.wiFiPositioning.request(wifiFingerPrint, new WiFiPositioning.VolleyCallback() {
                 @Override
                 public void onSuccess(LatLng wifiLocation, int floor) {
+
+                    // Print out the WiFi position using Android logging
+                    Log.d("WiFiPositioning", "Received WiFi location: " + wifiLocation.toString() + ", floor: " + floor);
+                    // Optionally, show a Toast message for quick feedback
+                    Toast.makeText(appContext, "WiFi Location: " + wifiLocation.toString() + " on floor: " + floor, Toast.LENGTH_LONG).show();
                     // Handle the success response
                 }
 
                 @Override
                 public void onError(String message) {
                     // Handle the error response
+
+                    Log.e("WiFiPositioning", "Error retrieving WiFi position: " + message);
+                    Toast.makeText(appContext, "Error retrieving WiFi position: " + message, Toast.LENGTH_LONG).show();
+
                 }
             });
         } catch (JSONException e) {
@@ -645,6 +1108,30 @@ public float[] getGNSSLatitude(boolean start) {
         }
         return latLong;
     }
+    
+    /**
+     * Gets the latest GNSS coordinates, but specifically excludes tag points.
+     * This method should be used for positioning calculations.
+     * 
+     * @return longitude and latitude data in a float[2].
+     */
+    /**
+     * Gets the latest GNSS coordinates, specifically excluding tag points.
+     * This method should be used for positioning calculations where tag points
+     * should not be considered as actual measurement data.
+     * 
+     * @return A float array containing [latitude, longitude] from the system location service
+     * 
+     * @author
+     */
+    public float[] getRealGNSSLatitude() {
+        // Just return the regular GNSS coordinates which come from the system location service
+        // and are never tag points (which only exist in the trajector's gnssData list)
+        float[] latLong = new float[2];
+        latLong[0] = latitude;
+        latLong[1] = longitude;
+        return latLong;
+    }
 
     /**
      * Setter function for core location data.
@@ -780,6 +1267,9 @@ public int getHoldMode(){
         }
     }
 
+
+
+
     //endregion
 
     //region Start/Stop
@@ -806,6 +1296,8 @@ public void resumeListening() {
         stepDetectionSensor.sensorManager.registerListener(this, stepDetectionSensor.sensor, SensorManager.SENSOR_DELAY_NORMAL);
         rotationSensor.sensorManager.registerListener(this, rotationSensor.sensor, (int) 1e6);
         wifiProcessor.startListening();
+        Log.d("SensorFusion", "wifiProcessor.startListening() called - WiFi scanning started.");
+
         gnssProcessor.startLocationUpdates();
     }
 
@@ -873,7 +1365,8 @@ public void startRecording() {
                 .setBarometerInfo(createInfoBuilder(barometerSensor))
                 .setLightSensorInfo(createInfoBuilder(lightSensor));
 
-
+        initializeEKF(startLocation);
+        initializeParticle(startLocation);
 
         this.storeTrajectoryTimer = new Timer();
         this.storeTrajectoryTimer.schedule(new storeDataInTrajectory(), 0, TIME_CONST);
@@ -940,6 +1433,104 @@ private Traj.Sensor_Info.Builder createInfoBuilder(MovementSensor sensor) {
                 .setType(sensor.sensorInfo.getType());
     }
 
+
+    /**
+     * Creates and returns a builder for the initial position of the trajectory.
+     * This method is used to set the initial coordinates when starting a recording.
+     *
+     * @param lat The latitude of the initial position
+     * @param longi The longitude of the initial position
+     * @return A builder instance with the specified latitude and longitude set
+     * 
+     * @author Semih Vazgecen
+     */
+    public Traj.Initial_Pos.Builder createInitialPosBuilder(float lat, float longi)
+    {
+        return Traj.Initial_Pos.newBuilder().setInitialLatitude(lat).setInitialLongitude(longi);
+    }
+
+    /**
+     * Adds a tag point to a temporary list, which is then saved to the trajectory's GNSS
+     * data once the recording is complete. This method is used to mark important positions 
+     * during recording.
+     * 
+     * @param latitude The latitude of the tagged position
+     * @param longitude The longitude of the tagged position
+     * @param altitude The altitude of the tagged position
+     * @param relativeTimestamp The relative timestamp of when the tag was created
+     * 
+     * @author Joseph Azrak, Semih Vazgecen
+     */
+    public void addTagToTrajectory(float latitude, float longitude, float altitude, long relativeTimestamp) {
+        if (saveRecording && trajectory != null) {
+            Traj.GNSS_Sample tag = Traj.GNSS_Sample.newBuilder()
+                    .setAccuracy(0) // Not applicable for manually added tag
+                    .setAltitude(altitude)
+                    .setLatitude(latitude)
+                    .setLongitude(longitude)
+                    .setSpeed(0) // Not applicable for manually added tag
+                    .setProvider("fusion")
+                    .setRelativeTimestamp(relativeTimestamp)
+                    .build();
+
+            taggedLocations.add(tag);
+        } else {
+            Log.e("SensorFusion", "Cannot add tag: Not recording or trajectory is null");
+        }
+    }
+    // A function to remove desired tags from the temporary list
+    /**
+     * Removes a tag from the temporary list of tagged locations.
+     * Searches for a tag with the specified timestamp and removes it from the list.
+     *
+     * @param tagTimestamp The timestamp of the tag to be removed
+     * 
+     * @author Semih Vazgecen, Joseph Azrak
+     */
+    public void removeTag(long tagTimestamp) {
+        // Find the tag in the list and remove it
+        for (int i = 0; i < taggedLocations.size(); i++) {
+            Traj.GNSS_Sample tag = taggedLocations.get(i);
+            if (tag.getRelativeTimestamp() == tagTimestamp) {
+                taggedLocations.remove(i);  // Remove the tag from the list
+                Log.d("SensorFusion", "Tag with timestamp " + tagTimestamp + " has been successfully removed");
+                break;
+            }
+        }
+    }
+
+    /**
+     * Checks if a given provider is a user tag.
+     * Used to filter out user tags in sensor fusion algorithms since they
+     * should not be treated as actual sensor measurements.
+     * 
+     * @param provider The provider string to check
+     * @return true if this is a user tag provider, false otherwise
+     * 
+     * @author Semih Vazgecen, Joseph Azrak
+     */
+    private boolean isUserTagProvider(String provider) {
+        return provider != null && "fusion".equals(provider);
+    }
+
+    // Commits the tags in the temporary list to the trajectory's GNSS data array
+    /**
+     * Commits the tags in the temporary list to the trajectory's GNSS data.
+     * This method should be called when finalizing the trajectory, typically
+     * when stopping recording.
+     * 
+     * @author Semih Vazgecen, Joseph Azrak
+     */
+    public void saveTagsToTrajectory() {
+        for (Traj.GNSS_Sample tag : taggedLocations) {
+            trajectory.addGnssData(tag);
+            Log.d("SensorFusion", "Tag with timestamp: " + tag.getRelativeTimestamp() + " has been successfully committed");
+        }
+        taggedLocations.clear(); // Clear after saving
+    }
+
+
+
     /**
      * Timer task to record data with the desired frequency in the trajectory class.
      *
@@ -950,19 +1541,19 @@ private class storeDataInTrajectory extends TimerTask {
         public void run() {
             // Store IMU and magnetometer data in Trajectory class
             trajectory.addImuData(Traj.Motion_Sample.newBuilder()
-                    .setRelativeTimestamp(SystemClock.uptimeMillis()-bootTime)
-                    .setAccX(acceleration[0])
-                    .setAccY(acceleration[1])
-                    .setAccZ(acceleration[2])
-                    .setGyrX(angularVelocity[0])
-                    .setGyrY(angularVelocity[1])
-                    .setGyrZ(angularVelocity[2])
-                    .setGyrZ(angularVelocity[2])
-                    .setRotationVectorX(rotation[0])
-                    .setRotationVectorY(rotation[1])
-                    .setRotationVectorZ(rotation[2])
-                    .setRotationVectorW(rotation[3])
-                    .setStepCount(stepCounter))
+                            .setRelativeTimestamp(SystemClock.uptimeMillis()-bootTime)
+                            .setAccX(acceleration[0])
+                            .setAccY(acceleration[1])
+                            .setAccZ(acceleration[2])
+                            .setGyrX(angularVelocity[0])
+                            .setGyrY(angularVelocity[1])
+                            .setGyrZ(angularVelocity[2])
+                            .setGyrZ(angularVelocity[2])
+                            .setRotationVectorX(rotation[0])
+                            .setRotationVectorY(rotation[1])
+                            .setRotationVectorZ(rotation[2])
+                            .setRotationVectorW(rotation[3])
+                            .setStepCount(stepCounter))
                     .addPositionData(Traj.Position_Sample.newBuilder()
                             .setMagX(magneticField[0])
                             .setMagY(magneticField[1])
@@ -997,10 +1588,17 @@ public void run() {
                             .setMac(currentWifi.getBssid())
                             .setSsid(currentWifi.getSsid())
                             .setFrequency(currentWifi.getFrequency()));
+                    //Log.d("SensorFusion", "APS_DATA: " + currentWifi.getBssid() + ", " + currentWifi.getSsid() + ", " + currentWifi.getFrequency());
                 }
                 else {
                     secondCounter++;
                 }
+                
+                // Run fusion algorithms in a separate thread to avoid UI lag
+                new Thread(() -> {
+                    updateEKF();
+                    updateParticle();
+                }).start();
             }
             else {
                 counter++;
@@ -1011,4 +1609,4 @@ public void run() {
 
     //endregion
 
-}
+}
\ No newline at end of file
diff --git a/app/src/main/java/com/openpositioning/PositionMe/sensors/WiFiPositioning.java b/app/src/main/java/com/openpositioning/PositionMe/sensors/WiFiPositioning.java
index dbf809dd..ca56975f 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/sensors/WiFiPositioning.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/sensors/WiFiPositioning.java
@@ -25,7 +25,9 @@
  * When the response to the request is obtained the wifiLocation and floor are updated.
  * Calling the getters for wifiLocation and the floor allows obtaining the WiFi location and floor
  * from the POST request response.
+ *
  * @author Arun Gopalakrishnan
+ * @author Sofea Jazlan Arif
  */
 public class WiFiPositioning {
     // Queue for storing the POST requests made
@@ -54,6 +56,14 @@ public int getFloor() {
     // Store current floor of user, default value 0 (ground floor)
     private int floor=0;
 
+    // Sofea
+    // For outliers detection
+    private static final double DISTANCE_MAX = 10.0;
+    private static final int LAT_TO_METER = 111045; // 61 miles between latitude parallels
+    private static final int LON_TO_METER_EQUATOR = 111320; // this is only at equator bc longitude converges
+    private LatLng previousLocation = null; // will be defined in calculations
+
+
 
     /**
      * Constructor to create the WiFi positioning object
@@ -87,8 +97,12 @@ public void request(JSONObject jsonWifiFeatures) {
                 // Parses the response to obtain the WiFi location and WiFi floor
                 response -> {
                     try {
-                            wifiLocation = new LatLng(response.getDouble("lat"),response.getDouble("lon"));
-                            floor = response.getInt("floor");
+                        LatLng tempLocation = new LatLng(response.getDouble("lat"),response.getDouble("lon"));
+                        if(!(isOutlier(tempLocation)))
+                        {
+                            wifiLocation = tempLocation;
+                        }
+                        floor = response.getInt("floor");
                     } catch (JSONException e) {
                         // Error log to keep record of errors (for secure programming and maintainability)
                         Log.e("jsonErrors","Error parsing response: "+e.getMessage()+" "+ response);
@@ -178,4 +192,67 @@ public interface VolleyCallback {
         void onError(String message);
     }
 
+    // Functions to get outlier detection working
+
+    /**
+     * Determines if a new WiFi position is an outlier based on the distance from the previous position.
+     * 
+     * This method compares the given location with the previously recorded location
+     * and checks if the distance between them exceeds a predefined maximum threshold.
+     * If the distance is too large, the location is considered an outlier and should be
+     * filtered out to prevent jumps in the positioning.
+     * 
+     * If this is the first location being checked (previousLocation is null),
+     * the location is accepted and stored as the reference for future comparisons.
+     *
+     * @param newLocation The new location to check for being an outlier
+     * @return boolean True if the location is an outlier, false otherwise
+     * 
+     * @author Sofea Jazlan Arif
+     */
+    private boolean isOutlier(LatLng newLocation) {
+        if(previousLocation == null) {
+            previousLocation = newLocation; // update the location
+        }
+
+        // once previous location available
+        double distance = measureDistance(previousLocation, newLocation);
+
+        // update previous location at each calculation
+        previousLocation = newLocation;
+
+        // true if distance is larger than MAX, false if not
+        return distance > DISTANCE_MAX;
+    }
+
+    /**
+     * Calculates the distance between two geographic coordinates in meters.
+     * 
+     * This method implements a simple distance calculation that approximates the
+     * distance between two points on Earth. It takes into account the fact that
+     * longitude distances vary with latitude due to the Earth's curvature.
+     * 
+     * The calculation uses a flat-Earth approximation that is accurate enough for
+     * small distances. It:
+     * 1. Calculates the latitude difference and converts to meters
+     * 2. Calculates the longitude difference, adjusted for latitude, and converts to meters
+     * 3. Uses the Pythagorean formula to compute the straight-line distance
+     *
+     * @param pos1 The first position (origin point)
+     * @param pos2 The second position (destination point)
+     * @return The distance between the two points in meters
+     * 
+     * @author Sofea Jazlan Arif
+     */
+    private double measureDistance(LatLng pos1, LatLng pos2){
+
+        double deltaLat = (pos2.latitude - pos1.latitude) * LAT_TO_METER;
+
+        double deltaLon = (pos2.longitude - pos1.longitude) *
+                Math.cos(Math.toRadians(pos1.latitude)) * LON_TO_METER_EQUATOR;
+
+        // calculate sum square
+        return Math.sqrt((deltaLat*deltaLat) + (deltaLon*deltaLon));
+    }
+
 }
\ No newline at end of file
diff --git a/app/src/main/java/com/openpositioning/PositionMe/utils/BuildingPolygon.java b/app/src/main/java/com/openpositioning/PositionMe/utils/BuildingPolygon.java
index 2d0a3265..1e86f75c 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/utils/BuildingPolygon.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/utils/BuildingPolygon.java
@@ -1,6 +1,8 @@
 package com.openpositioning.PositionMe.utils;
 
 
+import android.util.Log;
+
 import com.google.android.gms.maps.model.LatLng;
 
 import java.util.ArrayList;
@@ -94,6 +96,12 @@ private static boolean pointInPolygon(LatLng point, List<LatLng> polygon) {
      *      Otherwise False
      */
     private static boolean crossingSegment(LatLng point, LatLng a,LatLng b) {
+
+        if (point == null || a == null || b == null) {
+            Log.e("BuildingPolygon", "crossingSegment: Null LatLng detected! point=" + point + ", a=" + a + ", b=" + b);
+            return false; // Prevent crash
+        }
+
         double pointLng = point.longitude,
                 pointLat = point.latitude,
                 aLng = a.longitude,
diff --git a/app/src/main/java/com/openpositioning/PositionMe/utils/FallDetectionService.java b/app/src/main/java/com/openpositioning/PositionMe/utils/FallDetectionService.java
new file mode 100644
index 00000000..4aada252
--- /dev/null
+++ b/app/src/main/java/com/openpositioning/PositionMe/utils/FallDetectionService.java
@@ -0,0 +1,243 @@
+package com.openpositioning.PositionMe.utils;
+
+import android.content.Context;
+import android.content.SharedPreferences;
+import android.graphics.PixelFormat;
+import android.os.CountDownTimer;
+import android.os.Handler;
+import android.provider.Settings;
+import android.util.Log;
+import android.view.Gravity;
+import android.view.LayoutInflater;
+import android.view.View;
+import android.view.WindowManager;
+import android.widget.Button;
+import android.widget.TextView;
+
+import androidx.preference.PreferenceManager;
+
+import com.openpositioning.PositionMe.R;
+
+/**
+ * A service that detects falls using accelerometer data and provides alert functionality.
+ * 
+ * This service implements a fall detection algorithm that identifies potential falls
+ * by monitoring for a sequence of accelerometer patterns characteristic of falls:
+ * 1. A period of free fall (low acceleration magnitude)
+ * 2. A high impact (high acceleration spike)
+ * 3. A period of inactivity following the impact
+ * 
+ * When a fall is detected, it notifies a registered listener and displays an alert
+ * overlay that counts down before simulating an emergency call.
+ *
+ * @author Semih Vazgecen
+ */
+public class FallDetectionService {
+    private static final float FREE_FALL_THRESHOLD = 0.4f;
+    private static final float IMPACT_THRESHOLD = 65.0f;
+    private static final long FALL_TIME_WINDOW = 5000;
+    private static final long INACTIVITY_THRESHOLD = 3000;
+
+    private boolean isFalling = false;
+    private boolean impactDetected = false;
+    private long fallStartTime = 0;
+    private long impactTime = 0;
+
+    private Context appContext;
+    private WindowManager windowManager;
+    private View alertView;
+    private FallListener fallListener;
+    private SharedPreferences settings;
+
+    /**
+     * Constructs a new FallDetectionService.
+     * 
+     * @param context The application context used for accessing system services
+     *                and shared preferences
+     * 
+     * @author Semih Vazgecen
+     */
+    public FallDetectionService(Context context) {
+        this.appContext = context;
+        this.settings = PreferenceManager.getDefaultSharedPreferences(context);
+    }
+
+    /**
+     * Sets a listener to be notified when a fall is detected.
+     * The listener will be called when the fall detection algorithm
+     * confirms a fall event has occurred.
+     *
+     * @param listener An implementation of the FallListener interface
+     *                 that will receive fall detection notifications
+     * 
+     * @author Semih Vazgecen
+     */
+    public void setFallListener(FallListener listener) {
+        this.fallListener = listener;
+    }
+
+    /**
+     * Processes acceleration data to detect fall patterns.
+     * 
+     * This is the main method of the fall detection algorithm that analyzes
+     * acceleration data to identify potential falls. The algorithm looks for:
+     * 1. A free fall phase (acceleration magnitude below FREE_FALL_THRESHOLD)
+     * 2. An impact phase (acceleration magnitude above IMPACT_THRESHOLD)
+     * 3. A post-impact inactivity phase (time period after impact)
+     * 
+     * If all phases are detected in the correct sequence and timing, a fall is confirmed.
+     * When a fall is confirmed, the registered listener is notified and an alert is shown.
+     *
+     * @param ax The acceleration along the X axis in m/s²
+     * @param ay The acceleration along the Y axis in m/s²
+     * @param az The acceleration along the Z axis in m/s²
+     * @param currentTime The timestamp of the acceleration measurement in milliseconds
+     * 
+     * @author Semih Vazgecen
+     */
+    public void processAcceleration(float ax, float ay, float az, long currentTime) {
+        // Check if fall detection is enabled in settings
+        boolean fallDetectionEnabled = settings.getBoolean("enable_fall_detection", true);
+        if (!fallDetectionEnabled) {
+            return; // Skip processing if fall detection is disabled
+        }
+        
+        double accelerationMagnitude = Math.sqrt(ax * ax + ay * ay + az * az);
+
+        if (accelerationMagnitude < FREE_FALL_THRESHOLD && !isFalling) {
+            isFalling = true;
+            fallStartTime = currentTime;
+            Log.d("FallDetection", "Free fall detected");
+        }
+
+        if (isFalling && accelerationMagnitude > IMPACT_THRESHOLD) {
+            impactTime = currentTime;
+            impactDetected = true;
+            Log.d("FallDetection", "Impact detected");
+        }
+
+        if (impactDetected && (currentTime - impactTime > INACTIVITY_THRESHOLD)) {
+            Log.d("FallDetection", "Fall confirmed! Triggering alert...");
+
+            if (fallListener != null) {
+                fallListener.onFallDetected();  // Notify listener (e.g., SensorFusion)
+            }
+
+            showFallAlert();  // Show overlay alert
+            resetFallDetection();
+        }
+
+        if (isFalling && (currentTime - fallStartTime > FALL_TIME_WINDOW)) {
+            resetFallDetection();
+        }
+    }
+
+    /**
+     * Resets the fall detection state variables.
+     * 
+     * This method is called after a fall is confirmed or when the fall time window
+     * expires without detecting an impact. It resets the internal state variables
+     * to prepare for detecting the next potential fall.
+     * 
+     * @author Semih Vazgecen
+     */
+    private void resetFallDetection() {
+        isFalling = false;
+        impactDetected = false;
+    }
+
+    /**
+     * Displays an alert overlay when a fall is detected.
+     * 
+     * This method creates and shows a system overlay alert with a countdown timer
+     * simulating an emergency call notification. The user can dismiss the alert
+     * by pressing a button, or it will automatically dismiss after the countdown
+     * and a brief delay.
+     * 
+     * The method checks that:
+     * 1. Fall detection is still enabled in settings
+     * 2. The app has permission to draw overlays
+     * before displaying the alert.
+     * 
+     * @author Semih Vazgecen
+     */
+    private void showFallAlert() {
+        // Double-check fall detection is enabled before showing alert
+        boolean fallDetectionEnabled = settings.getBoolean("enable_fall_detection", true);
+        if (!fallDetectionEnabled) {
+            return; // Skip showing alert if fall detection is disabled
+        }
+        
+        if (!Settings.canDrawOverlays(appContext)) {
+            Log.e("FallDetection", "Overlay permission not granted! Cannot show alert.");
+            return;
+        }
+
+        windowManager = (WindowManager) appContext.getSystemService(Context.WINDOW_SERVICE);
+        LayoutInflater inflater = LayoutInflater.from(appContext);
+        alertView = inflater.inflate(R.layout.fall_alert_dialog, null);
+
+        TextView timerText = alertView.findViewById(R.id.timerText);
+        Button dismissButton = alertView.findViewById(R.id.dismissButton);
+
+        // Countdown timer (7 seconds)
+        CountDownTimer countDownTimer = new CountDownTimer(7000, 1000) {
+            public void onTick(long millisUntilFinished) {
+                timerText.setText("Emergency call in: " + (millisUntilFinished / 1000) + "s");
+            }
+
+            public void onFinish() {
+                timerText.setText("Emergency services are now called.");
+                new Handler().postDelayed(() -> removeAlert(), 3000);
+            }
+        }.start();
+
+        dismissButton.setOnClickListener(v -> {
+            countDownTimer.cancel();
+            removeAlert();
+        });
+
+        // Overlay window parameters
+        WindowManager.LayoutParams params = new WindowManager.LayoutParams(
+                WindowManager.LayoutParams.MATCH_PARENT,
+                WindowManager.LayoutParams.WRAP_CONTENT,
+                android.os.Build.VERSION.SDK_INT >= android.os.Build.VERSION_CODES.O
+                        ? WindowManager.LayoutParams.TYPE_APPLICATION_OVERLAY
+                        : WindowManager.LayoutParams.TYPE_PHONE,
+                WindowManager.LayoutParams.FLAG_KEEP_SCREEN_ON | WindowManager.LayoutParams.FLAG_NOT_FOCUSABLE,
+                PixelFormat.TRANSLUCENT
+        );
+        params.gravity = Gravity.CENTER;
+
+        windowManager.addView(alertView, params);
+    }
+
+    /**
+     * Removes the fall alert overlay from the screen.
+     * 
+     * This method safely removes the alert view from the window manager
+     * and cleans up references to prevent memory leaks. It's called 
+     * either when the user dismisses the alert or when the countdown
+     * timer completes.
+     * 
+     * @author Semih Vazgecen
+     */
+    private void removeAlert() {
+        if (alertView != null && windowManager != null) {
+            windowManager.removeView(alertView);
+            alertView = null;
+        }
+    }
+
+    /**
+     * Interface for receiving notifications when a fall is detected.
+     * 
+     * Implementations of this interface can register with the FallDetectionService
+     * to be notified when a fall event is confirmed.
+     * 
+     * @author Semih Vazgecen
+     */
+    public interface FallListener {
+        void onFallDetected();
+    }
+}
diff --git a/app/src/main/java/com/openpositioning/PositionMe/utils/IndoorMapManager.java b/app/src/main/java/com/openpositioning/PositionMe/utils/IndoorMapManager.java
index 9d7167df..12aab646 100644
--- a/app/src/main/java/com/openpositioning/PositionMe/utils/IndoorMapManager.java
+++ b/app/src/main/java/com/openpositioning/PositionMe/utils/IndoorMapManager.java
@@ -109,6 +109,10 @@ public void setCurrentFloor(int newFloor, boolean autoFloor) {
              }
         }
         else if (BuildingPolygon.inLibrary(currentLocation)){
+            if (autoFloor) {
+                // Add bias to correct the floor info from WIFI which is indicated as 1 on the ground floor of the Library
+                newFloor -= 1;
+            }
             // If within bounds and different from floor map currently being shown
             if (newFloor>=0 && newFloor<LIBRARY_MAPS.size() && newFloor!=this.currentFloor) {
                 groundOverlay.setImage(BitmapDescriptorFactory.fromResource(LIBRARY_MAPS.get(newFloor)));
diff --git a/app/src/main/proto/traj.proto b/app/src/main/proto/traj.proto
index 95d8b0ac..f19a1710 100644
--- a/app/src/main/proto/traj.proto
+++ b/app/src/main/proto/traj.proto
@@ -1,5 +1,7 @@
 syntax = "proto3";
 
+option java_package = "com.openpositioning.PositionMe";
+
 message Trajectory {
 string android_version = 1;
 repeated Motion_Sample imu_data = 2;
@@ -28,6 +30,10 @@ Sensor_Info magnetometer_info = 15;
 Sensor_Info barometer_info = 16;
 Sensor_Info light_sensor_info = 17;
 
+Initial_Pos initial_pos = 18;
+
+repeated Fused_Pos fused_pos = 19;
+
 }
 
 message Pdr_Sample {
@@ -112,7 +118,15 @@ message GNSS_Sample {
 message WiFi_Sample {
     int64 relative_timestamp = 1;
     repeated Mac_Scan mac_scans = 2;
+    Position position = 3;
+
+}
 
+message Position {
+    int64 relative_timestamp = 1;
+    float latitude = 2;
+    float longitude = 3;
+    int32 floor = 4;
 }
 
 message Mac_Scan {
@@ -146,4 +160,16 @@ message Sensor_Info {
     float power = 4;
     int32 version = 5;
     int32 type = 6;
+}
+
+message Initial_Pos {
+    float initial_latitude = 1;
+    float initial_longitude = 2;
+}
+
+message Fused_Pos {
+    int64 relative_timestamp = 1;
+    float latitude = 2;
+    float longitude = 3;
+    string algorithm = 4;
 }
\ No newline at end of file
diff --git a/app/src/main/res/drawable/ic_baseline_navigation_24.xml b/app/src/main/res/drawable/ic_baseline_navigation_24.xml
index 409078ae..05c39253 100644
--- a/app/src/main/res/drawable/ic_baseline_navigation_24.xml
+++ b/app/src/main/res/drawable/ic_baseline_navigation_24.xml
@@ -5,6 +5,6 @@
     android:viewportHeight="24"
     android:tint="?attr/textureBlurFactor">
   <path
-      android:fillColor="@android:color/holo_red_dark"
+      android:fillColor="@android:color/holo_green_dark"
       android:pathData="M12,2L4.5,20.29l0.71,0.71L12,18l6.79,3 0.71,-0.71z"/>
 </vector>
diff --git a/app/src/main/res/drawable/ic_baseline_navigation_25.xml b/app/src/main/res/drawable/ic_baseline_navigation_25.xml
new file mode 100644
index 00000000..33885ce7
--- /dev/null
+++ b/app/src/main/res/drawable/ic_baseline_navigation_25.xml
@@ -0,0 +1,10 @@
+<vector xmlns:android="http://schemas.android.com/apk/res/android"
+    android:width="24dp"
+    android:height="24dp"
+    android:viewportWidth="24"
+    android:viewportHeight="24"
+    android:tint="?attr/textureBlurFactor">
+    <path
+        android:fillColor="@android:color/holo_red_dark"
+        android:pathData="M12,2L4.5,20.29l0.71,0.71L12,18l6.79,3 0.71,-0.71z"/>
+</vector>
diff --git a/app/src/main/res/drawable/ic_baseline_navigation_26.xml b/app/src/main/res/drawable/ic_baseline_navigation_26.xml
new file mode 100644
index 00000000..f8853f0b
--- /dev/null
+++ b/app/src/main/res/drawable/ic_baseline_navigation_26.xml
@@ -0,0 +1,10 @@
+<vector xmlns:android="http://schemas.android.com/apk/res/android"
+    android:width="24dp"
+    android:height="24dp"
+    android:viewportWidth="24"
+    android:viewportHeight="24"
+    android:tint="?attr/textureBlurFactor">
+    <path
+        android:fillColor="@android:color/holo_orange_dark"
+        android:pathData="M12,2L4.5,20.29l0.71,0.71L12,18l6.79,3 0.71,-0.71z"/>
+</vector>
\ No newline at end of file
diff --git a/app/src/main/res/layout/fall_alert_dialog.xml b/app/src/main/res/layout/fall_alert_dialog.xml
new file mode 100644
index 00000000..36e1ae57
--- /dev/null
+++ b/app/src/main/res/layout/fall_alert_dialog.xml
@@ -0,0 +1,42 @@
+<?xml version="1.0" encoding="utf-8"?>
+<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    android:layout_width="match_parent"
+    android:layout_height="wrap_content"
+    android:orientation="vertical"
+    android:background="@android:color/white"
+    android:padding="20dp"
+    android:elevation="5dp"
+    android:gravity="center"
+    android:layout_margin="30dp">
+
+    <!-- Main Message Text -->
+    <TextView
+        android:id="@+id/fallMessage"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:text="Are you okay?"
+        android:textSize="18sp"
+        android:textColor="@android:color/black"
+        android:paddingBottom="20dp" />
+
+    <!-- Timer Text (for countdown) -->
+    <TextView
+        android:id="@+id/timerText"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:text="Emergency call in: 7s"
+        android:textSize="18sp"
+        android:textColor="@android:color/black"
+        android:paddingBottom="20dp" />
+
+    <!-- Button to Dismiss -->
+    <Button
+        android:id="@+id/dismissButton"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:text="I am safe, all good!"
+        android:background="@color/md_theme_light_primary"
+        android:textColor="@android:color/white"
+        android:padding="10dp"
+        android:textAllCaps="false"/>
+</LinearLayout>
diff --git a/app/src/main/res/layout/fragment_recording.xml b/app/src/main/res/layout/fragment_recording.xml
index c04381a5..4cf3bd20 100644
--- a/app/src/main/res/layout/fragment_recording.xml
+++ b/app/src/main/res/layout/fragment_recording.xml
@@ -37,37 +37,70 @@
                 android:layout_marginEnd="8dp" />
 
             <!-- Distance Traveled -->
-            <TextView
-                android:id="@+id/currentDistanceTraveled"
+
+            <!-- LinearLayout for Timer & Distance -->
+            <LinearLayout
                 android:layout_width="wrap_content"
                 android:layout_height="wrap_content"
-                android:text="@string/meter"
-                android:textColor="@color/md_theme_secondary"
-                android:textAppearance="@style/TextAppearance.Material3.BodyLarge"
-                android:textStyle="bold" />
+                android:orientation="vertical"
+                android:gravity="center">
+
+                <!-- Timer -->
+                <TextView
+                    android:id="@+id/timerText"
+                    android:layout_width="wrap_content"
+                    android:layout_height="wrap_content"
+                    android:text="00:00"
+                    android:textAppearance="@style/TextAppearance.Material3.BodyLarge"
+                    android:textColor="@color/md_theme_primary"
+                    android:textStyle="bold"
+                    android:layout_marginBottom="4dp"/>
+
+                <!-- Distance Traveled -->
+                <TextView
+                    android:id="@+id/currentDistanceTraveled"
+                    android:layout_width="wrap_content"
+                    android:layout_height="wrap_content"
+                    android:text="@string/meter"
+                    android:textAppearance="@style/TextAppearance.Material3.BodyLarge"
+                    android:textColor="@color/md_theme_secondary"
+                    android:textStyle="bold"/>
+            </LinearLayout>
 
             <!-- Elevation -->
             <TextView
                 android:id="@+id/currentElevation"
                 android:layout_width="wrap_content"
                 android:layout_height="wrap_content"
+                android:layout_marginStart="16dp"
+                android:layout_marginEnd="16dp"
                 android:text="@string/elevation"
-                android:textColor="@color/md_theme_secondary"
                 android:textAppearance="@style/TextAppearance.Material3.BodyLarge"
-                android:textStyle="bold"
-                android:layout_marginStart="16dp"
-                android:layout_marginEnd="16dp" />
+                android:textColor="@color/md_theme_secondary"
+                android:textStyle="bold" />
 
 
             <!-- GNSS Error -->
+
             <TextView
                 android:id="@+id/gnssError"
                 android:layout_width="wrap_content"
                 android:layout_height="wrap_content"
+                android:layout_marginStart="16dp"
+                android:layout_weight="1"
                 android:text="@string/gnss_error"
-                android:textColor="@color/md_theme_error"
                 android:textAppearance="@style/TextAppearance.Material3.BodyMedium"
-                android:layout_marginStart="16dp" />
+                android:textColor="@color/md_theme_error" />
+
+            <TextView
+                android:id="@+id/wifiError"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:layout_marginStart="16dp"
+                android:layout_weight="1"
+                android:text="@string/wifiError"
+                android:textAppearance="@style/TextAppearance.Material3.BodyMedium"
+                android:textColor="@color/md_theme_error"/>
         </LinearLayout>
     </com.google.android.material.card.MaterialCardView>
 
@@ -79,7 +112,52 @@
         android:layout_marginStart="8dp"
         android:layout_marginEnd="8dp"
         app:layout_constraintTop_toBottomOf="@id/currentPositionCard"
-        app:layout_constraintBottom_toTopOf="@id/controlLayout" />
+        app:layout_constraintBottom_toTopOf="@id/accuracyInfoCard" />
+
+    <!-- Accuracy Info Card -->
+    <com.google.android.material.card.MaterialCardView
+        android:id="@+id/accuracyInfoCard"
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content"
+        android:layout_margin="8dp"
+        app:cardBackgroundColor="@color/md_theme_surfaceContainer"
+        app:cardCornerRadius="16dp"
+        app:cardElevation="4dp"
+        app:strokeColor="@color/md_theme_outline"
+        app:strokeWidth="1dp"
+        app:layout_constraintTop_toBottomOf="@id/trajectoryMapFragmentContainer"
+        app:layout_constraintBottom_toTopOf="@id/controlLayout"
+        app:layout_constraintStart_toStartOf="parent"
+        app:layout_constraintEnd_toEndOf="parent">
+
+        <LinearLayout
+            android:layout_width="match_parent"
+            android:layout_height="wrap_content"
+            android:orientation="horizontal"
+            android:padding="8dp"
+            android:gravity="center_vertical">
+
+            <!-- EKF Accuracy Text -->
+            <TextView
+                android:id="@+id/ekfAccuracyText"
+                android:layout_width="0dp"
+                android:layout_height="wrap_content"
+                android:layout_weight="1"
+                android:text="EKF Accuracy: --"
+                android:textAppearance="@style/TextAppearance.Material3.BodyMedium"
+                android:textColor="@color/md_theme_primary" />
+
+            <!-- Particle Filter Accuracy Text -->
+            <TextView
+                android:id="@+id/particleAccuracyText"
+                android:layout_width="0dp"
+                android:layout_height="wrap_content"
+                android:layout_weight="1"
+                android:text="Particle Accuracy: --"
+                android:textAppearance="@style/TextAppearance.Material3.BodyMedium"
+                android:textColor="@color/md_theme_primary" />
+        </LinearLayout>
+    </com.google.android.material.card.MaterialCardView>
 
     <!-- 🔹 BOTTOM SECTION: Controls (Progress Bar & Buttons) -->
     <LinearLayout
@@ -114,28 +192,44 @@
             <com.google.android.material.button.MaterialButton
                 android:id="@+id/cancelButton"
                 style="@style/Widget.MaterialComponents.Button"
-                android:layout_width="160dp"
+                android:layout_width="120dp"
                 android:layout_height="56dp"
-                android:layout_marginEnd="16dp"
+                android:layout_marginEnd="8dp"
                 app:icon="@drawable/ic_unavailable"
                 android:text="@string/cancel"
-                android:textSize="16sp"
-                app:iconSize="24dp"
+                android:textSize="14sp"
+                app:iconSize="20dp"
                 app:iconGravity="textStart"
                 app:iconTint="@color/md_theme_onError"
                 app:backgroundTint="@color/md_theme_error"
                 app:cornerRadius="16dp" />
+            
+            <!-- Add Tag Button -->
+            <com.google.android.material.button.MaterialButton
+                android:id="@+id/addTagButton"
+                style="@style/Widget.MaterialComponents.Button"
+                android:layout_width="120dp"
+                android:layout_height="56dp"
+                android:layout_marginEnd="8dp"
+                app:icon="@drawable/ic_baseline_location_searching_24"
+                android:text="@string/add_tag"
+                android:textSize="14sp"
+                app:iconSize="20dp"
+                app:iconGravity="textStart"
+                app:iconTint="@color/md_theme_onSecondary"
+                app:backgroundTint="@color/md_theme_secondary"
+                app:cornerRadius="16dp" />
 
             <!-- Stop Button -->
             <com.google.android.material.button.MaterialButton
                 android:id="@+id/stopButton"
                 style="@style/Widget.MaterialComponents.Button"
-                android:layout_width="160dp"
+                android:layout_width="120dp"
                 android:layout_height="56dp"
                 app:icon="@drawable/ic_baseline_assignment_turned_in_24"
                 android:text="@string/stop"
-                android:textSize="16sp"
-                app:iconSize="24dp"
+                android:textSize="14sp"
+                app:iconSize="20dp"
                 app:iconGravity="textStart"
                 app:iconTint="@color/md_theme_onPrimary"
                 app:backgroundTint="@color/md_theme_primary"
diff --git a/app/src/main/res/layout/fragment_trajectory_map.xml b/app/src/main/res/layout/fragment_trajectory_map.xml
index a8ab9118..764b1386 100644
--- a/app/src/main/res/layout/fragment_trajectory_map.xml
+++ b/app/src/main/res/layout/fragment_trajectory_map.xml
@@ -1,5 +1,6 @@
 <?xml version="1.0" encoding="utf-8"?>
-<androidx.coordinatorlayout.widget.CoordinatorLayout xmlns:android="http://schemas.android.com/apk/res/android"
+<androidx.coordinatorlayout.widget.CoordinatorLayout
+    xmlns:android="http://schemas.android.com/apk/res/android"
     xmlns:app="http://schemas.android.com/apk/res-auto"
     android:id="@+id/trajectory_map_root"
     android:layout_width="match_parent"
@@ -12,45 +13,70 @@
         android:layout_width="match_parent"
         android:layout_height="match_parent" />
 
-    <!-- Overlaid controls for map visualization -->
+    <!-- Floating button to toggle the dropdown panel -->
+    <com.google.android.material.floatingactionbutton.FloatingActionButton
+        android:id="@+id/togglePanelButton"
+        android:layout_width="56dp"
+        android:layout_height="56dp"
+        android:layout_margin="16dp"
+        app:backgroundTint="@color/md_theme_primary"
+        app:tint="@color/md_theme_onPrimary"
+        android:src="@android:drawable/ic_menu_more"
+        android:contentDescription="Toggle Panel"
+        app:layout_anchor="@id/trajectoryMap"
+        app:layout_anchorGravity="top|start" />
+
+    <!-- Ultra simplified control panel - no animations or fancy attributes -->
     <com.google.android.material.card.MaterialCardView
+        android:id="@+id/controlPanel"
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
-        android:layout_margin="10dp"
-        android:padding="18dp"
+        android:layout_marginTop="72dp"
+        android:layout_marginStart="10dp"
+        android:padding="8dp"
+        android:visibility="gone"
         app:cardBackgroundColor="@color/md_theme_surfaceContainer"
         app:cardElevation="4dp"
-        app:shapeAppearanceOverlay="@style/ShapeAppearance.Material3.MediumComponent"
+        app:cardCornerRadius="8dp"
         app:layout_anchor="@id/trajectoryMap"
         app:layout_anchorGravity="top|start">
 
         <LinearLayout
             android:layout_width="wrap_content"
-            android:layout_height="wrap_content"
+            android:layout_height="match_parent"
+            android:gravity="center"
             android:orientation="vertical"
-            android:padding="8dp"
-            android:gravity="center">
+            android:padding="8dp">
 
             <com.google.android.material.switchmaterial.SwitchMaterial
                 android:id="@+id/gnssSwitch"
                 android:layout_width="wrap_content"
                 android:layout_height="wrap_content"
-                android:text="@string/gnssSwitch" />
+                android:text="@string/gnssSwitch"
+                app:trackTint="@color/blue_track"
+                app:thumbTint="@color/blue_thumb"/>
 
             <com.google.android.material.switchmaterial.SwitchMaterial
-                android:id="@+id/autoFloor"
-                android:layout_width="wrap_content"
+                android:id="@+id/wifiSwitch"
+                android:layout_width="match_parent"
                 android:layout_height="wrap_content"
-                android:text="@string/auto_floor" />
+                android:text="@string/wifiSwitch"
+                app:trackTint="@color/yellow_track"
+                app:thumbTint="@color/yellow_thumb" />
 
-            <com.google.android.material.button.MaterialButton
-                android:id="@+id/lineColorButton"
+            <com.google.android.material.switchmaterial.SwitchMaterial
+                android:id="@+id/pdrSwitch"
+                android:layout_width="match_parent"
+                android:layout_height="wrap_content"
+                android:text="@string/pdrSwitch"
+                app:trackTint="@color/red_track"
+                app:thumbTint="@color/red_thumb"/>
+
+            <com.google.android.material.switchmaterial.SwitchMaterial
+                android:id="@+id/autoFloor"
                 android:layout_width="wrap_content"
                 android:layout_height="wrap_content"
-                android:backgroundTint="@color/red"
-                android:textColor="@color/md_theme_onPrimary"
-                android:text="@string/color"
-                app:elevation="5dp"/>
+                android:text="@string/auto_floor" />
 
             <Spinner
                 android:id="@+id/mapSwitchSpinner"
@@ -59,9 +85,9 @@
                 android:layout_marginStart="0dp"
                 android:layout_marginTop="8dp"
                 android:background="@android:color/white"
+                android:elevation="5dp"
                 android:spinnerMode="dropdown"
-                app:layout_constraintTop_toTopOf="parent"
-                android:elevation="5dp"/>
+                app:layout_constraintTop_toTopOf="parent" />
 
         </LinearLayout>
     </com.google.android.material.card.MaterialCardView>
@@ -94,6 +120,7 @@
             app:layout_constraintBottom_toTopOf="@id/floorDownButton"
             app:layout_constraintEnd_toEndOf="parent"
             android:contentDescription="@string/floor_up" />
+
     </androidx.constraintlayout.widget.ConstraintLayout>
 
 </androidx.coordinatorlayout.widget.CoordinatorLayout>
diff --git a/app/src/main/res/values/colors.xml b/app/src/main/res/values/colors.xml
index 3f28e98d..e64a7bf6 100644
--- a/app/src/main/res/values/colors.xml
+++ b/app/src/main/res/values/colors.xml
@@ -163,4 +163,14 @@
     <color name="md_theme_surfaceContainer_highContrast">#DEE3E6</color>
     <color name="md_theme_surfaceContainerHigh_highContrast">#D0D5D8</color>
     <color name="md_theme_surfaceContainerHighest_highContrast">#C2C7CA</color>
+
+    <color name="blue_track">#a6d2f5</color>   <!-- Blue -->
+    <color name="yellow_track">#f7db86</color> <!-- Yellow -->
+    <color name="red_track">#ff968f</color>    <!-- Red -->
+    <color name="gray_track">#BDBDBD</color>   <!-- Default Gray when OFF -->
+
+    <color name="blue_thumb">#1565C0</color>
+    <color name="yellow_thumb">#FFA000</color>
+    <color name="red_thumb">#D32F2F</color>
+    <color name="gray_thumb">#757575</color>  <!-- Default Thumb when OFF -->
 </resources>
\ No newline at end of file
diff --git a/app/src/main/res/values/googlemaps_api.xml b/app/src/main/res/values/googlemaps_api.xml
index 80672c61..f2c9785f 100644
--- a/app/src/main/res/values/googlemaps_api.xml
+++ b/app/src/main/res/values/googlemaps_api.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="utf-8"?>
 <resources>
         <string name="google_maps_key" translatable="false" templateMergeStrategy="preserve">
-        AIzaSyAGqo26Wz1SUnGYP3TDDxLSDNK-EvHHtNc
+        AIzaSyCdMg4okcqLFtnDEp3ttw8g3oBgOh0ZlHU
     </string>
 </resources>
\ No newline at end of file
diff --git a/app/src/main/res/values/strings.xml b/app/src/main/res/values/strings.xml
index a2fa6043..45b3c73d 100644
--- a/app/src/main/res/values/strings.xml
+++ b/app/src/main/res/values/strings.xml
@@ -3,7 +3,7 @@
 
     <!-- Buttons -->
     <string name="done">Done</string>
-    <string name="stop">Complete</string>
+    <string name="stop">Finish</string>
     <string name="start">Start</string>
     <string name="measurements">Live data</string>
     <string name="files">History</string>
@@ -63,6 +63,7 @@
     <string name="constants_header">Constants</string>
 
     <!-- Content Descriptions -->
+    <string name="timer_format">%1$s:%2$s</string>
     <string name="recording">Recording in progress</string>
     <string name="distance_travelled">Distance travelled:</string>
     <string name="uploadTitle">Manual upload</string>
@@ -86,6 +87,10 @@
     <string name="manual_steps_summary_on">The app will use the values provided below</string>
     <string name="height_title">User height (cm)</string>
     <string name="step_title">Step length (cm)</string>
+    <!-- Fall Detection Preferences -->
+    <string name="fall_detection_title">Enable fall detection</string>
+    <string name="fall_detection_summary_off">Fall detection is disabled</string>
+    <string name="fall_detection_summary_on">Fall detection is enabled</string>
     <!-- Constants Preferences -->
     <string name="constants_enable_title">Edit the constants used</string>
     <string name="constants_summary_off">The app will use the default constants</string>
@@ -114,8 +119,8 @@
     <string name="floor_down_button">Floor Down button</string>
     <string name="floor_up_button">Floor Up button</string>
     <string name="choose_map">Choose Map</string>
-    <string name="auto_floor">❇️ Auto Floor </string>
-    <string name="gnss_error">GNSS error:</string>
+    <string name="auto_floor">🏢 Auto Floor </string>
+    <string name="gnss_error">GNSS Error:\n</string>
     <string name="satellite">Satellite</string>
     <string name="normal">Normal</string>
     <string name="hybrid">Hybrid</string>
@@ -130,11 +135,19 @@
     <string name="correct_your_step">Correct your own avg step length:</string>
     <string name="correct_step_hint">...</string>
     <string name="path_drawing_descritpion">Path drawing</string>
-    <string name="position_me">Position Me</string>
+    <string name="position_me">PositionMe</string>
     <string name="gnss_disabled">GNSS is disabled</string>
     <string name="replay_frag_restart">Restart</string>
     <string name="replay_frag_play">Play</string>
     <string name="replay_frag_end">End</string>
     <string name="replay_frag_exit">Exit</string>
-
+    <string name="wifiSwitch">🛜 Show WiFi</string>
+    <string name="wifiError">Wifi Error:\n</string>
+    <string name="pdrSwitch">👟 Show PDR</string>
+    <string name="add_tag">Add Tag</string>
+    <string name="tag_added">Tag added at current position</string>
+    <string name="ekf_accuracy">EKF Accuracy: %.2fm</string>
+    <string name="particle_accuracy">Particle Accuracy: %.2fm</string>
+    <string name="gnss_max_error_title">Maximum allowable GNSS error</string>
+    <string name="gnss_max_error_summary">GNSS readings with error higher than this value (in meters) will be ignored</string>
 </resources>
\ No newline at end of file
diff --git a/app/src/main/res/xml/root_preferences.xml b/app/src/main/res/xml/root_preferences.xml
index 65793d88..f1042ec3 100644
--- a/app/src/main/res/xml/root_preferences.xml
+++ b/app/src/main/res/xml/root_preferences.xml
@@ -49,6 +49,13 @@
             app:defaultValue="75"
             android:max="150"
             android:min="50"/>
+            
+        <SwitchPreferenceCompat
+            app:key="enable_fall_detection"
+            app:title="@string/fall_detection_title"
+            app:summaryOff="@string/fall_detection_summary_off"
+            app:summaryOn="@string/fall_detection_summary_on"
+            app:defaultValue="true"/>
     </PreferenceCategory>
 
 
@@ -127,6 +134,14 @@
             app:dependency="overwrite_constants"
             app:defaultValue="5"
             android:summary="@string/wifi_scan_interval" />
+            
+        <EditTextPreference
+            android:id="@+id/gnssMaxErrorInput"
+            android:inputType="number"
+            app:key="gnss_max_error"
+            app:title="@string/gnss_max_error_title"
+            app:summary="@string/gnss_max_error_summary"
+            app:defaultValue="20" />
 
     </PreferenceCategory>
 
diff --git a/build.gradle b/build.gradle
index e208c000..c37ec60e 100644
--- a/build.gradle
+++ b/build.gradle
@@ -6,7 +6,7 @@ buildscript {
     }
     dependencies {
         // NOTE: Only classpath deps (plugins) go here
-        classpath 'com.android.tools.build:gradle:8.8.0'
+        classpath 'com.android.tools.build:gradle:8.7.2'
         classpath 'com.google.gms:google-services:4.4.2'
         def nav_version = "2.5.3"
         classpath "androidx.navigation:navigation-safe-args-gradle-plugin:$nav_version"