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In recent years, location-based services LBS have received extensive attention from scholars at home and abroad, and how to obtain location information is a very important issue. The creation of systems for solving problems of positioning and navigation inside buildings is a very perspective, actual and complicated task, especially in a multi-floor environment. To improve the indoor localization performance, we proposed a three-dimensional (3D) indoor localization system integrating WiFi/Pedestrian Dead Reckoning (PDR), where extended Kalman filter (EKF) is used to estimate target location. The algorithm first relies on MEMS in our mobile phones to evaluate the speed and heading angle of the test nodes. Second, for two-dimensional (2D) localization, the speed and heading angle as with as the results of the WiFi Fingerprint-based localization are utilized as the inputs to the EKF. Third, the proposed algorithm …