Patent ID: 7302345

Claim:
A method of generating a magnetic field map, comprising: obtaining magnetic field information, the magnetic field information being information on a magnetic field affecting a mobile body, for each position of the mobile body; building the magnetic field map based on the magnetic field information for each position of the mobile body; and outputting the magnetic field map, wherein the obtaining of the magnetic field information comprises: recognizing a present position of the mobile body; obtaining the magnetic field information at the recognized present position, matching the obtained magnetic field information and the present position, and storing a matching result; determining whether the magnetic field information is obtained for all positions on the magnetic field map and, if it is determined that the magnetic field information is obtained with respect to all positions, proceeding to the building of the magnetic field map; and if it is determined that the magnetic field information is not obtained with respect to all positions, adjusting the present position such that a next target position becomes the present position and proceeding to the recognizing of the present position of the mobile body, wherein, in the recognizing of the present position of the mobile body, the next target position is recognized as the present position after adjusting the present position such that the next target position becomes the present position.