1. A method for determining a pose (location and orientation) of a mobile device, the method comprising: dividing a representation of a substantially planar operating environment into a first plurality of cells, wherein a given cell in the first plurality of cells is defined by a set of three or more nodes having respective locations; associating at least a first node with properties comprising a location and at least one parameter related to a detected signal detected by the mobile device; computing, while the mobile device is at an actual pose in a first cell, an estimated value of at least one property of the signal at an estimated pose of the mobile device, the computing based at least in part on an estimated location of the estimated pose and one or more of the respective properties associated with two or more of the nodes defining the first cell, wherein computing the estimated value is based at least in part on the estimated orientation of the estimated pose and a rotational variation parameter; and revising the estimated pose based at least in part on: the estimated pose, the estimated value of the signal property, and a value of the signal property measured at the actual pose.