In the last decade, the indoor localization and positioning has gained attention. The development of location based service, such as activity monitoring during training, has been one of the main drivers for this interest. In this contribution, a tracking system based on inertial measurement is proposed. The tracking system is designed for human tracking. The system has been designed to be low cost and self-configurable. To this aim, the system is able to learn all the parameters exploited in the computation. Moreover, the computational load of the system is low, so it can be implemented over wearable devices. The proposed approach has been tested in a real scenario and the results are reported.