Our project develops software for a specific vibro-tactile biofeedback system. This system is designed to help firefighters navigate smoke filled buildings. Our vibro-tactile biofeedback system uses patterns of vibration felt on the body to provide new ways of perceiving direction. UWB radio based positioning system is used to determine the ranging values and location of a mobile unit. These systems are integrated together to create a prototype device that can be used to blind-navigate around an indoor environment.