The advent of smartphones and tablets, means that we can constantly get informa-
tion on our current geographical location. These devices include not only GPS/GNSS
chipsets but also mass-market inertial platforms that can be used to plan activities,
share locations on social networks, and also to perform positioning in indoor and
outdoor scenarios. This paper shows the performance of smartphones and their inertial
sensors in terms of gaining information about the user’s current geographical loca-
tion considering an indoor navigation scenario. Tests were carried out to determine
the accuracy and precision obtainable with internal and external sensors. In terms of
the attitude and drift estimation with an updating interval equal to 1 s, 2D accuracies
of about 15 cm were obtained with the images. Residual benefits were also obtained,
however, for large intervals, e.g. 2 and 5 s, where the accuracies decreased to 50 cm
and 2.2 m, respectively