Method, vehicle, system and computer program for determining and/or improving a position estimation of a vehicle

Vehicle or module for a vehicle, configured to

• emit a transmit signal to at least three signal generators;
• receive a response signal from the at least three signal generators;
• determine at least three distances of the vehicle from the at least three signal generators based on the received response signal, wherein the respective distance is a distance between the vehicle and one of the at least three signal generators each, and wherein the at least three signal generators each comprise a predetermined position with respect to a moving coordinate system;
• and
• wherein the moving coordinate system is a coordinate system with respect to which the position of a stationary object can change due to a shift of the coordinate origin;
• and
• determine and/or improve a position estimation of the vehicle by using
• the at least three determined distances of the vehicle from the at least three signal generators and
• the predetermined positions of the at least three signal generators with respect to the moving coordinate system.

Method for determining and/or improving a position estimation of a vehicle, comprising:

• (a) determining at least three distances of the vehicle from at least three signal generators, wherein the respective distance is a distance between the vehicle and one of the at least three signal generators each;
• and
• wherein the at least three signal generators each comprise a predetermined position with respect to a moving coordinate system;
• and
• wherein the moving coordinate system is a coordinate system with respect to which the position of a stationary object can change due to a movement of the coordinate origin;
• (b) determining and/or improving the position estimation of the vehicle by using
• the at least three determined distances of the vehicle from the at least three signal generators and
• the predetermined positions of the at least three signal generators with respect to the moving coordinate system;
• and
• (d) navigating the vehicle based on the position estimation,
• wherein step (d) comprises generating waypoints for a movement trajectory of the vehicle;
• wherein step (d) comprises adapting the waypoints based on a movement of the moving coordinate system;
• wherein step (d) comprises a prediction of the movement of the moving coordinate system;
• and
• wherein step (d) comprises adapting the waypoints based on the predicted movement of the moving coordinate system.