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Man motion is one of the most challenging applications for a navigation system. A common approach to integrated pedestrian navigation (IPN) is to integrate GNSS user equipment and inertial sensors with magnetometers and a barometric altimeter. However, there are a number of different approaches to the use of the inertial sensors, which may be characterised by • The number and quality of inertial sensors to be used; • Whether to mount them on the shoes or the body; • Whether to use conventional inertial navigation algorithms, supported by zero velocity updates (ZVUs), pedestrian dead reckoning (PDR) or both. This paper discusses the trade-offs, summarises previous work and then compares the performance of two systems. IPN system A uses a body-mounted IMU with inertial navigation, ZVUs and PDR. IPN system B uses a shoemounted IMU with inertial navigation and ZVUs during the stance phase of …