In this paper, we present a smartphone-based hand-held indoor positioning system. The system collects data using the accelerometer, gyroscope and gravity virtual sensor sensors embedded in the smartphone. The accelerometer and gravity data are used to detect zero vertical speed and calculate the vertical displacement of each walking step, and then the Pythagorean Theorem is applied to calculate the step length of every step. Gyroscope data is used to estimate the direction angle. The step length and the direction angle of each step is combined to determine the coordinates of each step. A Kalman filter is used to reduce the vertical speed offset caused by accelerometer drift errors. The testing results show good performance of the proposed system.

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