This document describes the hardware implementation of a low-cost inertial navigation system using MEMS sensors. It discusses: 1) Calibrating the tri-axial accelerometer using a multi-position test to determine nine calibration parameters (scale factors, biases, misalignments) with equations, reducing the number of positions needed from twelve to six. 2) Similarly calibrating the tri-axial gyroscope using rate tests at different rotation speeds. 3) Developing error models for the accelerometer and gyroscope based on the calibrated parameters to remove sensor errors and noise. 4) Implementing the calibration algorithms and navigation equations in a microcontroller to track objects in real-time using the sensor data.