Embodiments are directed to a ground reaction sensor cluster (GRSC) and to methods for precisely determining zero velocity points and bearing changes using a GRSC and for navigating using a GRSC and an inertial motion unit (IMU) in a global positioning satellite (GPS)-denied environment. The GRSC device itself includes an array of capacitive pressure and shear sensors. The array includes multiple flexible capacitive sensor cells that detect changes in capacitance in response to a footstep. Each cell of the array includes multiple overlapping, fingered capacitors that detect pressure and shear force by determining the change in capacitance in each fingered capacitor. The GRSC device also includes a multiplexing receiver that receives the capacitance inputs from each of the capacitive sensor cells. The multiplexing receiver and other electronic elements further process the received capacitance inputs to determine, based on the pressure and shear forces, the direction and bearing of the footstep.