A mobile device includes an inertial navigation system (INS) to measure inertial quantities associated with movement of the device, and estimate a kinematic state associated with the movement based on the measured inertial quantities. The device includes a light receiver to record light beams originating from lights at respective image positions in a sequence of images. The device photogrammetrically determines its position relative to the originating lights based on predetermined real-world positions and corresponding image positions of the lights. The device corrects the estimated kinematic state based on the photogrammetrically determined position, to produce a corrected estimated kinematic state.