Embodiments of the present disclosure related to methods and systems of determining the floor and location of a device in an indoor space having multiple floors.A map importing module takes a floor map of an indoor space and processes it for further use. A calibration module creates a fingerprint map of the indoor space described by the floor map. A floor localization module searches the fingerprint map of each floor to determine the most likely location for each floor. A floor detection module determines the floor and location based on the most likely locations for each floor and any of map constraints data and device movement data.