title: Indoor Positioning System based on Gyroscope and Accelerometer
body: <p>I am developing an Android App to track indoor position. My phone is an Google Nexus S using two sensors, the first being an Accelerometer and the second being a Gyroscope.</p>
  
  <p>My idea is that from a starting reference point (a known GPS position), using the 2 sensors (accelerometer for motion and Gyro for directions) track the phone when moving. And display on a map when the user is going.</p>
  
  <p>But the problem is that i have no idea how to combine both of these sensors to give me an actual position?</p>
  
  <p>I have read some article on internet that talk about "kalman filter" and after some more research i found out that that filter is very very complex /too much for me) especially to code it in java for Android (cpu killer)</p>
  
  <p>Does someone has some experience that he can share with me about indoor positioning system using Gyro and accelerometer?</p>