Pedestrian smartphone-based indoor navigation using ultra portable sensory equipment

Smartphones are largely benefiting from the ever increasing rate of integration of mobile IT components. Their increasing processing power and the fact that they are fitted with GNSS-receivers make them ideal for hand-held pedestrian navigation solutions. This document proposes a pedestrian indoor navigation system based on a custom inertial navigation system and the N900 smartphone made by Nokia. The system does not depend on a particular indoor navigation system, but attempts to support its inertial navigation system by selecting the optimal set of auxiliary information from available infrastructure such as WLAN and bluetooth. Analysis focuses on the development of the inertial navigation hardware, the definition of an optimal set of support information and the development of an efficient sensor fusion algorithm.