A method in a mobile terminal for estimating a position of the mobile terminal includes: receiving an expected measurement map indicative of expected measurement values of a parameter; receiving parameters of a matrix corresponding to the expected measurement map; capturing actual measurement values of the parameter for a plurality of communication devices; and utilizing the received parameters and actual measurement values to estimate a position of the mobile terminal, where the expected measurement map includes, for each of a plurality of hypothesis locations (Loc(i,j)), a set of expected measurement values ({right arrow over (μ)}Loc(i,j)) containing expected measurements for the parameter, each of the expected measurements corresponding to a respective communication device of the plurality of communication devices.