Date of Award

Spring 2017

Document Type


Degree Name

Master of Science (MS)



First Advisor

Ahamed, Iqbal

Second Advisor

Guha, Shion

Third Advisor

Kaczmarek, Thomas


With the development of wireless communication networks, smart phones have become a necessity for people’s daily lives, and they meet not only the needs of basic functions for users such as sending a message or making a phone call, but also the users’ demands for entertainment, surfing the Internet and socializing. Navigation functions have been commonly utilized, however the navigation function is often based on GPS (Global Positioning System) in outdoor environments, whereas a number of applications need to navigate indoors. This paper presents a system to achieve high accurate indoor navigation based on Android platform. To do this, we design a sensor fusion scheme for our system. We divide the system into three main modules: distance measurement module, orientation detection module and position update module. We use an efficient way to estimate the stride length and use step sensor to count steps in distance measurement module. For orientation detection module, in order to get the optimal result of orientation, we then introduce Kalman filter to de-noise the data collected from different sensors. In the last module, we combine the data from the previous modules and calculate the current location. Results of experiments show that our system works well and has high accuracy in indoor situations.