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.

Abstract: Apparatus, method and computer program for magnetic positioning management. A management apparatus assigns an identifier for a transmitting mobile apparatus, and commands the transmitting mobile apparatus to transmit a radio beacon including the identifier. The management apparatus receives reception information from a receiving mobile apparatus that received the radio beacon, the reception information including the identifier of the transmitting mobile apparatus. For at least one of the transmitting mobile apparatus or the receiving mobile apparatus, the management apparatus determines its estimated location for a magnetic positioning based on an association of the transmitting mobile apparatus with the receiving mobile apparatus.

Abstract: Apparatus, method and computer program for magnetic positioning management. A management apparatus assigns an identifier for a transmitting mobile apparatus, and commands the transmitting mobile apparatus to transmit a radio beacon including the identifier. The management apparatus receives reception information from a receiving mobile apparatus that received the radio beacon, the reception information including the identifier of the transmitting mobile apparatus. For at least one of the transmitting mobile apparatus or the receiving mobile apparatus, the management apparatus determines its estimated location for a magnetic positioning based on an association of the transmitting mobile apparatus with the receiving mobile apparatus.

Abstract: There is provided a method, comprising: acquiring results of a set of Earth's magnetic field, EMF, measurements; acquiring motion data indicating the angular rotation that the mobile device experienced during each of a plurality of EMF measurement pairs, wherein each EMF measurement pair indicates a measured first and a second EMF value; determining a bias estimate of the magnetometer on the basis of the plurality of EMF measurement pairs and the corresponding motion data by finding the bias estimate that minimizes distances between the measured second EMF values and the measured first EMF values rotated about the bias estimate by the corresponding angular rotations; and determining a correction factor corresponding to the bias estimate and applying the correction factor to the magnetometer readings.