Over the ten past years, there has been a rising attention for personal navigation systems, given the signi cant interest of these applications in guiding and tracking a mobile user everywhere, in particular, in unfamiliar environments. The development of such systems reveals multiple challenges in several areas and requires the integration of different topics, especially, positioning. In an open space, the global navigation satellite system (GNSS) commonly known by the GPS standard, persists as the outdoor reference system for navigation. Whereas, the indoor navigation systems still at a development stage and suffer from many limitations. In this thesis, we aim to develop an ubiquitous pedestrian navigation prototype that continuously and seamlessly calculates the mobile user position anytime, everywhere based on user preferences.