A personal navigation system is proposed in
the present paper. This system is based on the use of inertial sensors and will
be a complement for the Global Positioning System in places where GPS signals
are not available. Such places are indoors and outdoors without a clear
visibility of the sky (urban canyons, places under dense foliage…).

A known initial position is required for
this method for it to be able to estimate the trajectory of the pedestrian
using inertial sensors attached to the foot.

The developed method and the approximations
taken into account are explained. Finally, the results of several tests carried
out are shown.