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Eight other soldiers are said to have been injured in the incident which occurred at about 8:10 a.m., according to Premium Times.
One truck was reportedly damaged in the explosion which took place along the Banki – Usmanari – Kumshe road area of the state.
The affected soldiers are attached to the 152 TF Battalion of the Nigerian Army.
The attack comes as Nigerians are mourning the death of heroic officer, Lt Col Muhammad Abu Ali who died at the hands of Boko Haram on November 5.
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Ali was buried along with six other soldiers on November 7.