A pedestrian navigation system based on micro-electro-mechanical system（ MEMS） inertial sensor is proposed in view of requirement of precision of pedestrian navigation. The system is placed on instep of pedestrian

navigation algorithm based on traditional strapdown inertial navigation

taking compensation accumulation error algorithm and zero speed detection method based on Kalman filtering to compensate three conditions judge method

namely sensor triaxial acceleration

total acceleration variance and total angular velocity of three conditions meet determination way

solve accumulated error compensation and calibration in the process of pedestrian navigation walking. Experimental verification is carried out to verify the applicability and accuracy of the navigation algorithm based on circular and rectangular routes. The results of the experiments are compared and analyzed and it shows that the error of results are within 5%

which meets navigation requirements.