Mobile terminal having a hybrid navigation system, method for determining a location thereof, and computer-readable recording medium recording the method

A mobile terminal having a hybrid navigation system and a method for determining a location thereof. A satellite navigation system receiver receives satellite data from a satellite. An inertial navigation system measuring device measures inertial data of the mobile terminal. A computing device receives the satellite data from the satellite navigation system receiver and the inertial data from the inertial navigation system measuring device, estimates a location of the mobile terminal using the inertial data, computes a state vector having location information obtained by correcting the estimated location using the satellite data and a state vector correlation error matrix having error information of the state vector, and determines the location of the mobile terminal using the state vector. The computing device uses a state vector correlation error matrix computed in a previous step when computing a state vector correlation error matrix in a current step.