System for determining the position of a vehicle making use of multiple individual magnetic marker elements provided in a surface suitable for said vehicle to drive on, the system comprising: - a plurality of sensors for measuring the magnetic field strength of a magnetic marker element of the multiple individual magnetic marker elements; - computation means for determining the position of the sensed magnetic marker element with respect to the plurality of sensors; wherein - said computation means is configured for: - obtaining the magnetic field strength measurements from the plurality of sensors; - associating a position within the array of sensors with each individual magnetic field strength measurement; - fitting the set of magnetic field strength measurements and associated positions to a spatial model of the magnetic field of a magnetic marker element; and - determining the position of the sensed magnetic marker element with respect to the plurality of sensors; wherein - the plurality of sensors are arranged in a two dimensional array; characterized in that - the hierarchical functionality provided by a DSP and a navigation computer is the following: a first level which is the IO level, which first level is responsible for obtaining the magnetic field strength readouts from the sensors, a second level, wherein a position within the array of sensors is associated with each individual magnetic field strength measurement, a third level, wherein the set of magnetic field strength positions is fitted in a fitter-level to a 3-dimensional model of a magnetic marker element, this resulting in an estimated position of the magnetic marker element relative to the array of sensors, wherein the estimated relative position of the magnetic marker element is used in a fourth level, to determine the position of the vehicle. - a plurality of sensors for measuring the magnetic field strength of a magnetic marker element of the multiple individual magnetic marker elements; - computation means for determining the position of the sensed magnetic marker element with respect to the plurality of sensors; wherein - said computation means is configured for: - obtaining the magnetic field strength measurements from the plurality of sensors; - associating a position within the array of sensors with each individual magnetic field strength measurement; - fitting the set of magnetic field strength measurements and associated positions to a spatial model of the magnetic field of a magnetic marker element; and - determining the position of the sensed magnetic marker element with respect to the plurality of sensors; wherein - obtaining the magnetic field strength measurements from the plurality of sensors; - associating a position within the array of sensors with each individual magnetic field strength measurement; - fitting the set of magnetic field strength measurements and associated positions to a spatial model of the magnetic field of a magnetic marker element; and - determining the position of the sensed magnetic marker element with respect to the plurality of sensors; wherein - the plurality of sensors are arranged in a two dimensional array; characterized in that - the hierarchical functionality provided by a DSP and a navigation computer is the following: a first level which is the IO level, which first level is responsible for obtaining the magnetic field strength readouts from the sensors, a second level, wherein a position within the array of sensors is associated with each individual magnetic field strength measurement, a third level, wherein the set of magnetic field strength positions is fitted in a fitter-level to a 3-dimensional model of a magnetic marker element, this resulting in an estimated position of the magnetic marker element relative to the array of sensors, wherein the estimated relative position of the magnetic marker element is used in a fourth level, to determine the position of the vehicle. a first level which is the IO level, which first level is responsible for obtaining the magnetic field strength readouts from the sensors, a second level, wherein a position within the array of sensors is associated with each individual magnetic field strength measurement, a third level, wherein the set of magnetic field strength positions is fitted in a fitter-level to a 3-dimensional model of a magnetic marker element, this resulting in an estimated position of the magnetic marker element relative to the array of sensors, wherein the estimated relative position of the magnetic marker element is used in a fourth level, to determine the position of the vehicle.