Independent pedestrian navigation system which increases the accuracy of positioning through zero velocity updates(ZUPT) based on MEMS technology is usually foot mounted. A dual miniature inertial measurement unit(MIMU) pedestrian navigation scenario based on equality constraint Kalman filtering is proposed, which focus on solving the problem that the heading can′t be precisely estimated during the procedure of ZUPT. Achieve nonlinear second order equality constraint with reference to relative position of two MIMU systems and work of data fusion applying a Kalman filter type estimator in the presence of such constraint is reviewed. The considered scheme is researched with data in real MEMS experiment of foot mounted MIMU, then off line process the data of dual foot mounted MIMU. According to the test results which is compared to a single MIMU pedestrian navigation scheme, equality constrained dual MIMU pedestrian navigation system has higher positioning accuracy.