In recent years, location-based services (LBS) have attracted much attention because of increasing smartphone users. The technology mainly used for estimating position of smartphone users is the global navigation satellite system (GNSS). However, the satellite positioning has demerit it cannot provide accurate position information in environments such as indoors or near buildings. Therefore, we focus on the pedestrian dead reckoning (PDR), which estimates the pedestrian position using the sensors in the terminal. The positioning by PDR needs to take into account the walking characteristics of the pedestrian individually. This paper proposes a method to adaptively estimate the parameters for pedestrians to improve the accuracy of positioning by PDR.