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Pedestrian dead reckoning of indoor environment and indoor positioning is always a tough problem because it is hard to get the Global Positioning System’s signal when people stay in indoor environment. Nowadays, some practical methods about indoor positioning and PDR are mostly based on peripheral equipment, such as RFID, WIFI position systems. Unfortunately, Setting up these peripheral equipment needs a large number of human resources and money. This paper presents a new and mature calculating framework which is based on inertial measurement unit devices to calculate and estimate pedestrians’ movement. This framework include five parts, carrier attitude algorithm, based on sliding window and the method of limit threshold to estimate steps of pedestrian, the step length estimation of pedestrians based on BP neural network, the estimation of course based on the magnetometer and gyroscope fusion. Finally, according the above framework have developed an Android application. After several experiments, the total distance error is not more than 5 meters, and the deviation of the course Angle is no more than 5%, which can meet the actual demand.