I had the same problem and did a little research on other structures. Since JQuery Mobile works correctly with fixed navigation, the problem should only be on the side of Bootstrap, because they specifically disabled it (see below for more details).
You can try mostly by adding inline style.
<div class="navbar navbar-fixed-top navbar-inverse" style="position:fixed">
Of course, you need to change the navigator styles accordingly. I have done the following:
@media (max-width: 979px) { .navbar-fixed-top, .navbar-fixed-bottom { position: fixed; margin-left: 0px; margin-right: 0px; } }
I added this after responsive css.
I tried with various devices ... an inexpensive Android tablet, my high-performance Android phone. I have never tried iOS. The most amazing thing is that it works great on Firefox for Android.
This is one of the github issues that Bootstrap authors answered with links to a detailed solution made by JQM: https://github.com/twitter/bootstrap/issues/1617
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