Global navigation satellite system (GNSS), such as global positioning system (GPS), has long been widely used for vehicular and outdoor navigation. While using GNSS in an open sky, the accuracy it provides is one of the technology’s biggest advantages. However, this accuracy does not translate to portable navigation where the user is in an environment such as indoors or dense urban areas. These environments cause the GNSS signal to suffer multipath and signal blockages, making it impossible to achieve similar results as an open sky environment. A common solution for providing location services in these challenging environments is integrating GNSS with inertial sensors, such as accelerometers and gyroscopes. While this resolves some of the issues, the arbitrary orientation of the portable device can present a more difficult challenge when using inertial sensors for portable navigation. An accurate heading estimation is required to obtain a navigation solution using inertial sensors. It is critical to resolve the heading misalignment angle between the portable navigation device and the moving platform, such as using the device while walking or in a vehicle while driving, to obtaining an accurate heading estimation. We present a solution for resolving this misalignment between the portable device and the moving platform. This solution exploits multiple portable devices like smartphones or tablets and/or smart wearable devices such as smart watches, smart glasses, and/or smart fitness and activity trackers/monitors. Several real field test experiments using portable devices were conducted to examine the performance of the proposed method. The results show how a portable navigation solution can be improved by further enhancing misalignment estimation.

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