The widespread adoption of mobile device has improved the accuracy of navigation and location. Since nowadays Global Navigation Satellite System (GNSS) is easier to be installed in the mobile device to locate and navigate in the outdoors. Signals of GNSS are obstructed indoors so navigation and positioning would be a hard task to be executed indoors. Hence, methods of indoor positioning appear as the instruments of Bluetooth, RFID, IBeacon etc. Every method of indoor positioning has its respective cost to affect the selection of indoor positioning technique. In this study, use data of gyroscope and accelerometer from Micro Electro Mechanical Systems (MEMS) and detect footsteps by using filter to smooth the signal, and then estimate the step length by the ordinary least square. Our results show that using the Savitzky-Golay Filter to detect footsteps can improve 3% in the accuracy rate of step detection and apply leg length as parameter in step length estimation can get the closer result with real step length.