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This paper presents a human dead-reckoning system far beaconless indoor positioning. The system is based on traditional dead-reckoning Senson like compass, gyro, and accelerometers. Due to the difficult kinematics of a human, there are no ready solutions for the odomehy. This problem is solved by using a self-made stride length measurement unit and laser odomehy. AU the sensors are Integrated to a complete system including sensor fusion. The fnnctiondity of the integrated system is verified with tests io an office environment. Finally the test results are analyzed.

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