Standalone inertial navigation system (INS) in indoor pedestrian positioning is becoming imminent as the researchers exploit its small form factor and low power requirement. This will result in small-size, low-power wearable devices that are not obtrusive to the users and yet provide sufficiently accurate pedestrian localization and tracking within. At this stage, most of the recent INS-based indoor pedestrian positioning systems still have to interface with other computing machines such as a laptop or smartphone to perform computationally demanding algorithms. Most of the existing techniques operate in off-line and not real-time mode. In this paper, we propose a real-time indoor pedestrian dead-reckoning system based on embedded INS. The results show that our system successfully track the distance travelled by pedestrians up to an error of three percent with a position update interval less than a second.