Use Accelerometer and compass to record and display position of the phone in space

We need a sample application in C/C++ for major mobile phones that will provide the location of the phone, by tacking GPS, accelerometer and compass. we need x, y, z of the phone, along with the rotation of the phone (alpha, beta?). Basic MATH skills are required! Design: there should be 1 file "util.c" which will be included in all projects: void newData(double x, double y, double z, double alpha, double betta) { // it all needs to do in demo is a printf("...", ...); } One "util.c" for all platforms, not one "util.c" for each platform! all projects (iPhone, Android, Blackberry, Windows phones) must include "until.c" and call the functions there when there is new data Filtering noise is not that important, if you can do it, say it so, and we might pay more for that. What is important is to track accelerometer and compass and to tell us of the position of the phone in space. GPS usage is optional. Say it so if you can do it, and we might pay more for this too. If you can't do it with only one "util.c" file, or only in one language, say it so, but we really want to maximize the code sharing, and minimize the languages in which we write the reporting function.