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The mobile navigation services in an obstructed areacan be extremely challenging especially if the Global PositioningSystem (GPS) is blocked. In such conditions, users will find itdifficult to navigate directly on-site. This needs to use inertialsensor in order to determine the location as standalone, low costand ubiquity. However, the usage of accurate inertial sensor andfast localization module in the system would lead the phenomenonof sample impoverishment, which it is contributedoi:10.31224/osf.io/gak4x fatcat:4p6y2iyezrdelhy537jptl4rk4