A system comprising: a transformation module configured to receive first and second pose estimates (502, 602) of a mobile vehicle movable within an environment, the first and second pose estimates (502, 602) being relative to different, respective first and second digital maps (500, 600) of the environment in different, respective first and second coordinate systems, the transformation module being configured to calculate a geometric transform between the first and second digital maps (500, 600) based on the first and second pose estimates (502, 602); an alignment module configured to align the first and second digital maps (500, 600) based on the geometric transform, and thereby generate an aligned digital map; and an aligned localization module configured to localize the mobile vehicle relative to the aligned digital map, and thereby calculate an aligned pose estimate of the mobile vehicle, and further configured to communicate the aligned pose estimate to the mobile vehicle to aid in navigation of the mobile vehicle, wherein the transformation module is configured to receive the first pose estimate from a mapping and localization system onboard the mobile vehicle, the mapping and localization system being configured to build the first digital map of the environment, and calculate the first pose estimate of the mobile vehicle relative to the first digital map, characterised in that the transformation module is configured to receive the first pose estimate from the mapping and localization system configured to build the first digital map and calculate the first pose estimate in accordance with a simultaneous localization and mapping technique, and the transformation module is configured to receive the second pose estimate from a wireless locating system configured to calculate the second pose estimate of the mobile vehicle relative to the second digital map accessible from storage. a transformation module configured to receive first and second pose estimates (502, 602) of a mobile vehicle movable within an environment, the first and second pose estimates (502, 602) being relative to different, respective first and second digital maps (500, 600) of the environment in different, respective first and second coordinate systems, the transformation module being configured to calculate a geometric transform between the first and second digital maps (500, 600) based on the first and second pose estimates (502, 602); an alignment module configured to align the first and second digital maps (500, 600) based on the geometric transform, and thereby generate an aligned digital map; and an aligned localization module configured to localize the mobile vehicle relative to the aligned digital map, and thereby calculate an aligned pose estimate of the mobile vehicle, and further configured to communicate the aligned pose estimate to the mobile vehicle to aid in navigation of the mobile vehicle, wherein the transformation module is configured to receive the first pose estimate from a mapping and localization system onboard the mobile vehicle, the mapping and localization system being configured to build the first digital map of the environment, and calculate the first pose estimate of the mobile vehicle relative to the first digital map, characterised in that the transformation module is configured to receive the first pose estimate from the mapping and localization system configured to build the first digital map and calculate the first pose estimate in accordance with a simultaneous localization and mapping technique, and the transformation module is configured to receive the second pose estimate from a wireless locating system configured to calculate the second pose estimate of the mobile vehicle relative to the second digital map accessible from storage.