This study aims to achieve an advanced location-based service based on pedestrian's positioning technology in the indoor and outdoor environment. This paper deals with the positioning procedure using the portable inertial sensor that is called inertial navigation system (INS). It is necessary to integrate several information and technologies to make INS a practicable technology besides portable sensor data. Our positioning architechure deals with ubiquitous sensors data (portable sensor, RFID tags installed into the environment), the knowledge DB (map data, ID tag data), positioning procession module, and application module. We realize high accuracy and continuous positioning system architecture with portable sensor and mobile terminal which is connected by Bluetooth wireless connection. Our accuracy evaluation of positioning method shows that proposed method estimates user's position within 3 meter accuracy in 86.9 percent of the experiment route in rate of time, and has an average positioning error of 2.3 meter, with a worst case error of 5.8 meter. The result of our experiment shows that the positioning accuracy obtained using the proposed method estimates pedestrian's position in higher accuracy than the conventional technique. Moreover, we conduct the empirical experiment of the proposed positioning system based on the prototype application of navigation of visually impaired.