It is difficult to obtain the navigation information in the case of GNSS rejection, while the methods based on infrared, ultrasonic, radio, Wi-Fi, ultra-wide-band need the assist of electronic label, and the traditional dead reckoning algorithm is to draw the trajectory of a pedestrian on the condition of walking forward. It may be opposite or perpendicular to the actual trajectory if the pedestrian takes backward and lateral walking. To solve the above-mentioned problems, the inertial measurement unit embedded in mobile terminal is used to realize the short-time multi-mode pedestrian tracking based on multi-sensor without relying on any electronic label. The results of repeated tests show that the detected accuracy of walking mode is higher than or equal to 92%. Taking the actual garage scene as the experimental background, this method can obtain autonomous path tracking in full walking mode, and the path tracking error is less than 3 m.