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In recent years, with the popularity of smartphones, mobile sensor technologies have been widely used in indoor localization. Its advantage is that data can be collected directly from smartphones without installing any other equipment. Meanwhile, it has the disadvantages of high requirements on positioning conditions and large deviations in positioning results. A technology of crowd-sourcing landmarks-assisted smartphone in indoor localization (CLS-IL) is proposed in this paper so as to solve these disadvantages. Firstly, the accelerometer, magnetometer and gyroscope sensors are used to acquire initial positioning of users. The characteristics of magnetometer and gyroscope sensors are analyzed through a series of experiments in allusion to the key problem of heading estimation errors, then corresponding data is matched for different experimental conditions. After that, the corresponding landmark database is …