Systems, methods and non-transitory, computer-readable mediums are disclosed for pedestrian pace estimation with pace change detection. In some implementations, a method comprises: receiving, by a processor of a mobile device, raw pedometer data from a pedometer included in or coupled to the mobile device; receiving, by the processor, raw GNSS data from a GNSS receiver included in or coupled to the mobile device; estimating, using a first filter implemented on the processor, a step frequency of a user wearing or holding the mobile device, the estimating including using the raw pedometer data; determining, by the processor, a pace change, the pace change determined from the estimated step frequency; responsive to the pace change, adapting by the processor, a bandwidth of a second filter implemented by the processor; and estimating, by the second filter, an estimated pace or speed of the user.