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Indoor navigation is necessary for users to explore large unfamiliar indoor environments such as airports, shopping malls, and hospital complex, which relies on the capability of continuously tracking a user's location. A typical indoor navigation system is built on top of a suitable Indoor Positioning System (IPS) and requires the user to periodically submit location queries to learn their whereabouts whereby to provide update-to-date navigation information. Received signal strength (RSS)-based IPSes are considered as one of the most classical IPSes, which locates a user by comparing the user's RSS measurement with the fingerprints collected at different locations in advance. Despite its significant advantages, existing RSS-IPSes suffer from two key challenges, the ambiguity of RSS fingerprints and device diversity, that may greatly reduce its positioning accuracy. In this paper, we introduce the design and evaluation of CITS, a novel RSS-based continuous indoor tracking system that can effectively cope with fingerprint ambiguity and device diversity via differential RSS fingerprint matching. Detailed experiment studies confirm the significant advantages of CITS over prior RSS-based solutions.