Low-cost MEMS sensors were widely used in pedestrian positioning and navigation. As the navigation time becomes longer, the zero position of MEMS sensor would drift with time, which makes the variable step error of pedestrian became the main error. On the other hand, the traditional foot-bound navigation used the MEMS sensor's own information to judge the time of zero speed, and there would be some problems such as wrong judgment and missed judgment. According to the pedestrian gait change rule, when judging the zero speed time, heterogeneous multi-source sensing assisted by pressure sensor is added, and an error correction algorithm for compensation is designed for system error. Compared with the traditional method, this design can improve the navigation and positioning accuracy by an order of magnitude.