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The pedestrian dead reckoning system based on the inertial sensors can autonomously operate and achieve the real-time pedestrian positioning, which does not need any pre-installed infrastructures. The designed hardware platform integrates the low-cost, low-power, small-size MEMS inertial sensors and GPS receiver. When the GPS signal is unavailable, such as indoor and urban canyons environments, the inertial sensors calculate the relative position of pedestrians from the previous GPS fixed point. The height information is measured by the barometer, which is combined with the plane position to realize the three-dimensional positioning. A simple but effective algorithm for stride detection and step length estimation is designed to reduce the calculation and storage requirements to the microprocessor. The proposed complementary filter fuses the accelerometer, gyroscope and digital compass data to reduce azimuth error and improve positioning accuracy. The indoor pedestrian walking test experiments show that the positioning error is less than 3% of the total traveled distance. The accuracy and reliability of the system is verified, which meet the requirements of the pedestrian position.