Using a select set of components, a navigation software development kit can easily be configured to fit a variety of mobile and portable devices. Testing on several current devices demonstrates that the kit’s use of sensors already present in smartphones to enable entertainment can provide 3D positioning when satellite signals are degraded or absent, such as in urban canyons or in deep indoor environments. The solution also provides the heading of the user, the 3D orientation of the device, and the user’s velocity, without restriction on device usage.