Abstract: Embodiments for performing an indoor navigation are disclosed. The location based service system includes: a plurality of access points installed in an indoor environment and configured to send Wi-Fi signals including access point identification information; a mobile terminal configured to receive a Wi-Fi signal from at least one of the access points and form a first Wi-Fi fingerprint based on the received Wi-Fi signal; and a navigation service server configured to construct a plurality of Wi-Fi radio maps based on a plurality of second Wi-Fi fingerprints acquired at locations of the indoor environment, select a Wi-Fi radio map for estimating a location of the mobile terminal among the plurality of Wi-Fi radio maps, estimate the location the mobile terminal by using a second Wi-Fi fingerprint corresponding to the first Wi-Fi fingerprint based on the selected Wi-Fi radio map, and form location information including the estimated location.