Abstract: A tracking system for use in head-mounted device (HMD) includes light sources arranged spatially around user-interaction controller(s); controller-pose-tracking means arranged in user-interaction controller(s); HMD-pose-tracking means; camera(s) arranged on portion of HMD that faces real-world environment in which HMD is in use; and processor(s) configured to estimate relative pose, based on controller-pose-tracking data and HMD-pose-tracking data; determine sub-set of light sources, based on estimated relative pose and arrangement of light sources; selectively control light sources such that light sources of sub-set are activated, whereas remaining light sources are deactivated; process at least one image, captured by camera(s), to identify operational state of light source(s) of sub-set that is visible in image(s), wherein image(s) is indicative of actual relative pose; and correct estimated relative pose to determine actual relative pose, based on operational state.

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: An apparatus computes first locations of a satellite for several points in time based on a first set of parameters values broadcast by the satellite for a first validity period and second locations of the satellite for these points in time based on a second set of parameter values with associated second validity period. The first or second validity period is extended by an equation of motion, which includes forces acting on the satellite. The apparatus computes a value of an error component for points in time by comparing first with second locations and fits parameter values of a model to the values of the error component to obtain a model of a time-evolution of values of the error component. The apparatus provides the model of the time-evolution as a basis for a correction of locations of the satellite that are computed based on the first set of parameter values.