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# Wheria
GPS dies. We don't.
IMU · baro · mag · dead reckoning
iOS Android Watch Live
GPS dies in underground parking, which is unfortunately where you left the car. Wheria records your route with the phone's own sensors, then guides you back: floor, pillar, distance.
[App Store](https://apps.apple.com/app/wheria/id6785155247)Google Play · soon
Swift Kotlin CoreMotion CoreLocation WidgetKit 15K+ dl Updated 2026-06
## See it running
Official App Store screenshots. Scroll sideways for more.
**Save the spot, find it fast**One card: the car, 124 m away, floor B2, pillar E9, a note that says near the elevator.
**Walk straight back**Arrow, 101 metres, go down 2 floors. The trail below is the path you walked.
**Your whole garage**A VF 8, a Honda SH, an e-bike. Each keeps its own spot.
**Maps and reminders**Plate, parked info, a meter timer at 30m / 1h / 2h / custom, the map, share.
**Never lose your car**The first screen says it plainly.
## What people use it for
### Basement garages
Three grey floors that look identical. The app exists because of this place.
### Airports
Park Tuesday, come back Sunday. Floor and pillar are still saved.
### Malls
Auto-detect saves the spot even when your mind was already on lunch.
### Motorbikes
Hundreds of bikes in one lot. Yours has its own entry, colour and plate.
### Street parking
Set the reminder as you walk away. Fines cost more than this app.
### Someone else picks it up
Share the spot. They get floor, pillar and the note.
## Saving a spot
- **One tap, or zero**Drop the pin yourself, or let automatic detection do it when you walk away.
- **Floor and pillar**B2 and E9 are what get you back. Adjust them by hand to match the garage's signs.
- **A note**“Near the elevator” is the note you will actually use down there.
- **A photo**Attach one if every level looks the same.
## Walking back
- **No GPS**Motion, compass and barometer, fused. Works across floors.
- **Readable mid-walk**The floor, the metres left, which way to face. Big type.
- **Breadcrumbs**It draws the path you actually walked.
- **AR**Point the camera, follow the arrow. Premium.
- **Lock Screen**Live Activity, Dynamic Island, Home and Lock Screen widgets.
- **Outdoors**Above ground it hands off to Apple Maps and walking directions.
## Under the hood
GPS fails underground for physical reasons: L-band microwaves attenuate in concrete, and multipath reflections bias the position estimate by tens of metres. Showing the blue dot anyway is just lying to the user with extra steps.
Wheria does pedestrian dead reckoning instead: steps picked out of accelerometer peaks, heading from gyro integration corrected by the magnetometer when the field is clean, floors hinted by pressure differences, all fused in a Kalman filter that reports its own uncertainty. The full math is in the blog posts below.
## Free and premium
Free: two vehicles and recent history. Premium is one payment: unlimited vehicles, AR guidance, full history. No subscription.
Location and movement stay on the phone. Optional iCloud sync keeps your garage on your own devices only.
### Want a month on us?
Beat Signal Lock — match the waveform — and we hand you a promo code.
[Play Signal Lock →](https://uranashel.com/unlock.html)
## The engineering behind it
[2026-05-28 · 21 min
### Indoor navigation when GPS dies
](https://uranashel.com/blog/building-wheria-indoor.html)[2026-03-08 · 19 min
### Barometers and parking floor math
](https://uranashel.com/blog/barometer-parking-math.html)[2026-01-21 · 21 min
### Kalman filters for parking
](https://uranashel.com/blog/kalman-filter-parking.html)[2026-02-04 · 20 min
### Step detection and IMU odometry
](https://uranashel.com/blog/step-detection-imu.html)[2026-02-18 · 22 min
### Magnetometers and compass nightmares
](https://uranashel.com/blog/compass-calibration-story.html)[2025-09-05 · 20 min
### Why GPS lies to you
](https://uranashel.com/blog/why-gps-lies.html)
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