A method for determining an estimated position of a device within a location, the device comprising at least one movement sensor configured to generate sensor data, and the device storing a map of the location, the map being divided into a plurality of regions, the method comprising: calculating an estimated position for the device within the location based on the sensor data; determining an estimated region of the plurality of regions for the device based on the estimated position; calculating an estimated heading for the device based on the sensor data; comparing the estimated heading to a most-likely heading associated with the estimated region to generate a difference between the two headings; and setting the estimated heading to the most-likely heading associated with the estimated region if difference between the two headings is greater than a threshold heading difference.