INS4Droid

INS4Droid is a lightweight, high-performance inertial navigation system (INS) for Android that uses built-in device sensors to track position without GNSS, GSM, Wi-Fi, or network connectivity.

The system relies on an initial frame of reference and performs real-time inertial dead-reckoning using accelerometer and gyroscope data.
It is implemented in C with SDL2, prioritizing speed, efficiency, and minimal overhead.

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Key Features

• No external signals required
  • Works without GPS, GSM, Wi-Fi, or internet
• Pure inertial navigation
  • Uses Android’s built-in IMU sensors
• Super fast & lightweight
  • Native C implementation with SDL2
• High accuracy
  • Average deviation < 1 m per 2 km (real-world testing)
• Low overhead
  • Suitable for long-running offline operation

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How It Works

1. An initial frame of reference is established at startup
2. Sensor data (accelerometer + gyroscope) is continuously integrated
3. Position is updated using inertial dead-reckoning
4. No external corrections or network dependencies are used

Accuracy depends on sensor quality and initial calibration.

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Building

Option 1: Android Studio (Recommended)

1. Clone the repository
2. Open android-project/ in Android Studio
3. Let Gradle sync complete
4. Build and run on a physical Android device

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Option 2: Android Studio CLI Tools

Ensure the Android SDK, NDK, and CMake are installed.

cd android-project
./gradlew assembleDebug