A device implementing a system for estimating device location includes at least one processor configured to receive a first and second set of signals at a sampling interval, each set corresponding to location data. For each sampling period defined by the sampling interval, the at least one processor is configured to obtain first sensor data corresponding to device motion during the sampling period, obtain second sensor data corresponding to atmospheric pressure sampled at a beginning and end of the sampling period, calculate a change in altitude based on a difference in the atmospheric pressure at the beginning and end of the sampling period, and estimate a device state based on the first sensor data and change in altitude.