Devices and methods for pedestrian navigation are disclosed. In an embodiment, a device includes an accelerometer sensor configured to sense acceleration components associated with a device motion in a plurality of axes of the accelerometer sensor. The acceleration components include stride frequency components and step frequency components. The device includes a processing module communicably associated with the accelerometer sensor. The processing module is configured to process at least a portion of the acceleration components to determine an estimated attitude associated with the device motion with respect to the accelerometer sensor. The processing module is configured to filter out the step frequency components by blocking the stride frequency components. The processing module is further configured to determine the estimated attitude based on the step frequency components to thereby mitigate a bias in the estimated attitude associated with a lateral sway of the device motion.