A position determination device comprises data input circuitry configured to obtain magnetic field sensor data sensed by a magnetic field sensor, detection circuitry configured to detect temporal variations of the magnetic field and to generate temporal variation information indicating the detected temporal variation of the magnetic field, and magnetic fingerprinting circuitry configured to determine a first position estimate of the sensor position by comparing the obtained magnetic field sensor data with a magnetic map comprising magnetic fingerprints of a region around the magnetic field sensor and using the generated temporal variation information.