Navigate, track, and position mobile devices in gps-denied or gps-inaccurate areas with automatic map generation

This invention is directed to a method for mapping and positioning. The method has at least three steps. The first step calls for receiving sensor data based on location and a path of movement of a mobile device. The second step calls for generating, based on the sensor data, a path estimate and a location measurement vector (LMV), wherein the LMV includes one or more measurements at each of the locations from the sensor data from each of the locations. The third step entails generating, based on the sensor data, the path estimate, and the LMV, one or more unique path features.