The work presented in this paper includes the design and implementation of an ARM based embedded system for PDR with MARG measurement units such as three axes accelerometer, gyroscope and magnetometer. PDR system is based on 32-bit ARM Cortex-M3 low power processor and including 9-axes MEMS sensor unit, GNSS module with BLE and two concurrent ISM band transceivers is designed as a portable development platform. Step detection, step length estimation and orientation estimation methods are evaluated and combined as PDR model. We estimate the pedestrian walking position in a scenario where sensor be placed on the hip. PDR system was tested and experimental results of the tests are shown.