Iterative estimation of non-holonomic constraints in an inertial navigation system

A device, comprising:

• a first sensor;
• a second sensor;
• and
• at least one processor configured to:
• receive, with a sampling interval by the first sensor while the device is within or coupled to a vehicle in motion, a set of signals corresponding to location data;
• and
• for at least one sampling period defined by the sampling interval,
• obtain, by the second sensor, sensor data which corresponds to motion of the device during the at least one sampling period,
• determine an orientation of the device relative to an orientation of the vehicle based on the sensor data, and
• estimate a state of the device based at least in part on the orientation of the device relative to the orientation of the vehicle.

A computer program product comprising code stored in a tangible computer-readable storage medium, the code comprising:

• code to receive, at a sampling interval and by a device within or coupled to a vehicle in motion, a set of signals corresponding to location data;
• and
• code to, for at least one sampling period defined by the sampling interval,
• obtain first sensor data which corresponds to motion of the device during the at least one sampling period,
• determine an orientation of the device relative to an orientation of the vehicle based on the first sensor data, and
• estimate a state of the device based at least in part on the orientation of the device relative to the orientation of the vehicle.