Abstract: A positioning method for use in a vehicle navigation or mapping system is disclosed, and a system implementing such a method. The method comprises obtaining one or more sets of sensor measurement data from at least one sensor located on or in a vehicle, each set of sensor measurement being indicative of the distance of objects in an environment around the vehicle from the sensor, and each set of sensor measurement data comprising data obtained from a range of positions in a time or distance window along the direction of travel of the vehicle. A correlation procedure is performed correlating the one or more sets of sensor measurement data with stored reference sensor measurement data, and a relative position of the vehicle against stored location data associated with the stored reference sensor measurement data is determined in dependence on the correlation procedure.

Abstract: A computerised method of creating map data from a plurality of trips where each trip comprises position data derived from the positions of at least one navigation device 200 over a period of time, the method comprising using a processing circuitry to perform the following steps: i. processing the position data; ii. determining from the processing the believed accuracy of the position data constituting a trip; iii. reducing the weight applied to and/or removing position data in which the belief is below a predetermined threshold to generate filtered position data; iv. deriving information about the road 700 based upon the filtered position data; and v. generating further map data.

Abstract: A computerised method of creating map data from a plurality of trips where each trip comprises position data derived from the positions of at least one navigation device 200 over a period of time, the method comprising using a processing circuitry to perform the following steps: i. processing the position data; ii. determining from the processing the believed accuracy of the position data constituting a trip; iii. reducing the weight applied to and/or removing position data in which the belief is below a predetermined threshold to generate filtered position data; iv. deriving information about the road 700 based upon the filtered position data; and v. generating further map data.