Method, system and apparatus for vehicular navigation using inertial sensors

A mobile device comprising:

• an inertial measurement unit (IMU) configured to provide inertial measurements along a first reference axes;
• a detector configured to detect a steady state of a vehicle from the inertial measurements;
• an estimator configured estimate a relative attitude of the IMU with respect to a vehicle frame of reference;
• a translator configured to translate the inertial measurements to the vehicle frame of reference using the relative attitude to form translated inertial measurements;
• and
• a navigator configured to determine at least one of a velocity and a position of the vehicle using the translated inertial measurements, wherein the relative attitude is subject to change in an event of undocking and re-docking of the mobile device from a docking system in the vehicle.