Autonomous Indoornavigation with a LowCost-INS-System

A navigation solution which is completely independent from extern aiding sensors you can see in the video here.

Position and orientation is calculated from the INS sensors of a Galaxy-SII smartphone which is mounted on a persons foot. Additionally an algorithm runs to detect the Zero-Velocity phases of the foot. If a Zero-Velocity phase is detected the navigation state is corrected with this additional information and sensor specific errors can be estimated.