Method for Creating A Model for Positioning, and A Method for Positioning

A method for creating a model for positioning within an environment, the method comprising:

• receiving a training dataset comprising samples, wherein each sample is associated with a respective measurement position in the environment, and each sample comprises:
• respective first sensor data, measured at the respective measurement position;
• and
• a respective estimated measurement position and a respective estimated accuracy of the respective measurement position;
• training a machine learning model to convert sensor data to a position in the environment, wherein the training is based on the samples, whereby the model for positioning within the environment is created, wherein the training comprises adjusting parameters of the machine learning model based on the samples, and wherein a magnitude of the adjustment based on each sample is weighted by the estimated accuracy of said sample.