In an embodiment, a method includes receiving, by a processor of a mobile device, raw pedometer data from a pedometer included in or coupled to the mobile device. The processor receives raw GNSS data from a GNSS receiver included in or coupled to the mobile device. A first filter uses the raw pedometer data to estimate a step frequency of a user wearing or holding the mobile device. The processor determines a pace change from the estimated step frequency. Responsive to the pace change, the processor adapts a bandwidth of a second filter and estimates, by the second filter, an estimated pace or speed of the user.