DETERMINING THE LOCATION OF A MOBILE DEVICE

A computer-implemented method of determining a location of a mobile device, the method comprising receiving inertial data generated at the mobile device, the inertial data comprising a plurality of samples taken at different times, segmenting the inertial data into pseudo-independent windows, wherein each pseudo-independent window comprises a plurality of the samples and wherein one or more initial states for each pseudo-independent window are treated as unknown, estimating a change in navigation state over each pseudo-independent window using the samples of inertial data, and summing the changes in the navigation states over the pseudo-independent windows so as to determine the location of the mobile device.