Systems and methods for estimating initial heading at start-up of navigation

A hand-held computing device comprising:

• a processor;
• a memory coupled to the processor;
• a display device electrically coupled to the processor;
• an accelerometer electrically coupled to the processor;
• a wireless communication system electrically coupled to the processor, the wireless communication system configured to receive location information wirelessly from beacons external to the hand-held computing device;
• wherein the memory stores a program that, when executed by the processor, causes the processor to:
• spawn a plurality of clone processes, each clone process given an identical location and speed, and each clone process given a unique direction;
• calculate, by each clone process, a respective position at the end of a frame period;
• terminate clone processes whose position at the end of the frame period is outside a predetermined threshold, the terminating results in remaining clone processes;
• and
• determine the heading of the hand-held computing device from the remaining clone processes;
• provide an indication of direction to travel to a user of the hand-held device by way of the display device.