We address the problem of position estimation for a rigid body using an inertial measurement unit (IMU). In this paper, we present a Kalman filtering technique which takes advantage of the magnetic disturbances usually observed indoors. This is an important topic for military operations in urban areas where GPS is often unavailable. This approach yields significant improvements in estimation accuracy. We illustrate our technique with several experimental results obtained with a low cost IMU. D. Vissière (corresponding author) is "Ingénieur de l'Armement" in the Délégation Générale pour l'Armement (DGA) of the French Department of Defense. He is also a PhD candidate in Mathematics and Control, Centre

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