The paper proposes the design of accurate positioning system with outdoor and indoor coverage with highly needed tool for increasing safety in emergency response. The project aim is to design a 3D inertial navigation system that track the soldier movement (left, right, up and down) accurately with a GPS denied environment in multi-floor building. The location and movement of all the soldiers known among themselves and to the military troop outside the building. The system help them efficiently to lead the task force in urban operations and to rescue the injured persons faster. © 2017 Elsevier B.V., All rights reserved.