A method, a system, and a computer-readable medium for tracking position and orientation of a pedestrian. The system tracks a head position or head orientation of the pedestrian, and a foot position or foot orientation of the pedestrian. The system determines a first heading or position uncertainty associated with the head position or the head orientation of the pedestrian, and determines a second heading or position uncertainty associated with the foot position or the foot orientation of the pedestrian. Moreover, the system determines which of the first heading or position uncertainty or the second heading or position uncertainty is smaller. The system transfers the first heading or position uncertainty to a device or system portion for foot position, or transfers the second heading or position uncertainty to a device or system portion for head position.