Abstract: A control apparatus, method and computer program code for controlling indoor positioning transitions. In response to detecting that a mobile apparatus is in an unmapped location, commanding the mobile apparatus to suspend generation of sensor data for indoor positioning with one or more sensors of the mobile apparatus. In response to an invoke mechanism, checking whether the mobile apparatus is likely to enter an indoor location for which indoor signal map data exists. If (YES) the checking indicates that the mobile apparatus is likely to enter the indoor location, commanding the mobile apparatus to start generating the sensor data for the indoor positioning with the one or more sensors, or else (NO) commanding the mobile apparatus to resume the suspension, and, in response to the invoke mechanism, performing the checking again.

Abstract: A method in a processing apparatus includes: obtaining measurement data generated by one or more information sources; selecting one or more parts of a map; and processing the measurement data with a state estimation algorithm within the confines of the selected one or more parts in order to determine an estimated state of a mobile apparatus.

Abstract: A processing apparatus is caused to: 1) obtain measurement data generated by a mobile apparatus with one or more sensors during a known time period, the measurement data including a plurality of measurement samples and timing data indicating timing of measurement samples in relation to each other; 2) obtain at least one event related to the mobile apparatus, the event being associated with the measurement data so that it represents a specific time and/or a specific location during the known time period; 3) construct a spatial path of the mobile apparatus based on at least a part of the measurement data and the at least one event; and 4) associate the measurement data with the spatial path so that a measurement sample is associated with a specific point of the spatial path.