Vehicle position is determined using magnetic field measurements within an indoor environment. Magnetic field measurements and sensor information are obtained from the vehicle and magnetic map information is obtained for the indoor environment. Parameters of vehicle motion are derived from the sensor information. The magnetic field measurements are processed to mitigate vehicular interference and then compensated for a magnetometer bias induced at least in part by the vehicle. Vehicle position is determined based at least in part on the compensated magnetic field magnetic measurements, the magnetic map information and the parameters of vehicle motion.