This paper presents integration of ultrasonic and inertial approaches in indoor navigation system. Ultrasonic navigation systems allow to obtain good results whilst there are at least three beacon transmitters in the range of mobile receiver, but in many situations placement of large number of transmitters is not economically justified. In such situations navigation must be aided by other technique. This paper describes research on supporting ultrasonic system by inertial system based on Magnetic, Angular Rate and Gravity sensor. This can measure current orientation of the receiver and allows to estimate the length of the path by pedometer functionality.

Robotic total stations are a group of surveying instruments that can be used to measure moving prisms. These devices can generate significant errors during kinematic surveys. This is due to the different speeds of the total station’s measurement subsystems, which results in the observations of the point location being performed in different places of the space. Total stations which are several years old may generate errors of up to a few dozen centimeters. More modern designs, with much lower delays of the mechanical and electronic subsystems, theoretically allow to significantly reduce the values of the errors. This study involved the performance of kinematic tests on the modern robotic total station Leica MS50 in order to determine the values of measurement errors, and also to define the possibility of using them for the above-mentioned applications.