Wearable computing devices, appcessories, or evenportable devices, such as the latest smartphones or tablets,all include low-cost MEMS sensors. This means very highnoise and high random drift rates. In addition to this, themobility of the devices creates freely changing orientationwith respect to the hosting platform (such as person orvehicle) at any time. All these facts explain why obtainingreliable navigation solution using this kind of devices is areal challenge.This paper proposes a multiple sensors’ triads solutionand the underlying techniques to benefit from thisredundancy of sensors to enhance the navigation solution,given the fact that it is likely that a user will carry multipledevices most of the time, whether wearable computingdevices, portable devices, and/or appcessories which arewirelessly connected together. Benefiting from themultiple triads and integrating them boosts the final resultsoutstandingly and results in a higher accuracy navigationsolution in the different environments indoors or outdoors,in open sky, urban canyon, or GNSS outages, whether onfoot or driving.
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