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The paper deals with height determination in indoor environment using inertial sensors (accelerometers, gyroscopes) and barometer built in a smartphone, which is very important to detect upstairs and downstairs motion of the users. The algorithm proposed uses the barometric formula for height determination and the relationship between the decreasing barometric pressure and increasing height. The main advantage of the use of barometer is the long-term accuracy, because the algorithm is not recursive. The problem of...