Abstract: A method for determining an estimated position of a device within a location, the device comprising at least one movement sensor configured to generate sensor data, and the device storing a map of the location, the map being divided into a plurality of regions, the method comprising: calculating an estimated position for the device within the location based on the sensor data; determining an estimated region of the plurality of regions for the device based on the estimated position; calculating an estimated heading for the device based on the sensor data; comparing the estimated heading to a most-likely heading associated with the estimated region to generate a difference between the two headings; and setting the estimated heading to the most-likely heading associated with the estimated region if difference between the two headings is greater than a threshold heading difference.

Abstract: A method for determining an estimated position of a device within a location, the device comprising at least one movement sensor configured to generate sensor data, and the device storing a map of the location, the map being divided into a plurality of regions, the method comprising: calculating an estimated position for the device within the location based on the sensor data; determining an estimated region of the plurality of regions for the device based on the estimated position; calculating an estimated heading for the device based on the sensor data; comparing the estimated heading to a most-likely heading associated with the estimated region to generate a difference between the two headings; and setting the estimated heading to the most-likely heading associated with the estimated region if difference between the two headings is greater than a threshold heading difference.

Abstract: A map or plan of a location is generated from a set of map data, wherein at least some of said map data has a time-dependent status associated therewith. An input time is determined from a user input and said map data is displayed according to its associated time-dependent status on the basis of said input time. When the input time is changed, the map data displayed is changed accordingly.