Recent years have witnessed the emergence and rapid growth of pervasive computing technologies such as mobile ad hoc networks, radio frequency identification (RFID), Wi-Fi etc. Many researches are proposed to provide services while hiding the computing systems into the background environment. Trust is of critical importance to protect service integrity & availability as well as user privacies. In our research, we design a trust-supportive framework for heterogeneous pervasive devices to collaborate with high security confidence while vanishing the details to the background. We design the overall system architecture and investigate its components and their relations, then we jump into details of the critical components such as authentication and/or identification and trust management. With our trust-supportive framework, the pervasive computing system can have low-cost, privacy-friendly and secure environment for its vast amount of services.