1. A method performed by a mobile device, comprising: selecting a state observation of the mobile device from a set of observation types including network-derived observations and satellite-derived observations, where the selected observation is input to a state estimator that is configured for receiving network-derived and satellite-derived observations; determining that a motion context for the mobile device has changed from moving to static or from static to moving; determining one or more dynamic model parameters based on the changed motion context; and estimating a state of the mobile device using the state estimator based on the selected observation type and determined dynamic model parameters, where the method is performed by one or more hardware processors.