An indoor geolocation system for determining a location in three-dimensional space includes a plurality of base stations and a mobile device movable about an indoor environment in three dimensions. The mobile device detects electromagnetic signals in the indoor environment emitted by devices other than the base stations, and generates a signal profile based on the signals. The mobile device transmits the signal profile to one or more of the base stations, which forward the signal profile to a remote server. The system determines a location of the in three-dimensional space of the mobile device by comparing the signal profile to data regarding signal profiles at a plurality of locations in the indoor environment. The data regarding signal profiles in the indoor environment may have been captured by a detection device other than the mobile device at a time prior to the detection of the electromagnetic signals by the mobile device.