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People with visual impairment face enormous difficulties in terms of their mobility as they do not have enough information about their location and orientation with respect to traffic and obstacles on their route. Visually impaired people can navigate unknown areas by relying on the assistance of canes, other people, or specially trained guide dogs. The traditional ways of using guide dogs and long-cane only help to avoid obstacles, not to know where they are. The research presented in this paper introduces a mobile assistant navigation prototype to locate and direct blind people indoors. Since most of the existing navigation systems developed so far for blind people employ a complex conjunction of positioning systems, video cameras, locationbased and image processing algorithms, we designed an affordable low-cost prototype navigation system for orienting and tracking the position of blind people in complex environments. The prototype system is based on the inertial navigation system and experiments have been performed on NXT Mindstorms platform.