A probabilistic system for tracking a state of a vehicle using unsynchronized cooperation of information received from satellite signals (209, 130g) transmitted by a global navigation satellite system (GNSS) and information transmitted over radio frequency channel, comprising: a memory configured to store a probabilistic multi-head measurement model relating incoming measurements with the state of the vehicle, wherein the probabilistic multi-head measurement model includes a first head relating measurements of the satellite signals (209, 130g) subject to measurement noise with a belief on the state of the vehicle, and a second head relating an estimation of the state of the vehicle subject to estimation noise with the belief on the state of the vehicle; and at least one processor configured to process executable instructions of modules of the probabilistic system, the modules comprising: a GNSS measurement module operatively connected to a GNSS receiver and configured to determine the measurements of the satellite signals (209, 130g) and the measurement noise; an RF measurement module operatively connected to an RF receiver of the vehicle and configured to receive data indicative of the estimation of the state of the vehicle and the estimation noise; and a probabilistic filter configured to update recursively parameters of a probabilistic distribution of the state of the vehicle to produce the belief on the state of the vehicle based on the multi-head measurement model accepting one or a combination of the measurements of the satellite signals (209, 130g) subject to the measurement noise and the estimation of the state of the vehicle subject to the estimation noise. a memory configured to store a probabilistic multi-head measurement model relating incoming measurements with the state of the vehicle, wherein the probabilistic multi-head measurement model includes a first head relating measurements of the satellite signals (209, 130g) subject to measurement noise with a belief on the state of the vehicle, and a second head relating an estimation of the state of the vehicle subject to estimation noise with the belief on the state of the vehicle; and at least one processor configured to process executable instructions of modules of the probabilistic system, the modules comprising: a GNSS measurement module operatively connected to a GNSS receiver and configured to determine the measurements of the satellite signals (209, 130g) and the measurement noise; an RF measurement module operatively connected to an RF receiver of the vehicle and configured to receive data indicative of the estimation of the state of the vehicle and the estimation noise; and a probabilistic filter configured to update recursively parameters of a probabilistic distribution of the state of the vehicle to produce the belief on the state of the vehicle based on the multi-head measurement model accepting one or a combination of the measurements of the satellite signals (209, 130g) subject to the measurement noise and the estimation of the state of the vehicle subject to the estimation noise. a GNSS measurement module operatively connected to a GNSS receiver and configured to determine the measurements of the satellite signals (209, 130g) and the measurement noise; an RF measurement module operatively connected to an RF receiver of the vehicle and configured to receive data indicative of the estimation of the state of the vehicle and the estimation noise; and a probabilistic filter configured to update recursively parameters of a probabilistic distribution of the state of the vehicle to produce the belief on the state of the vehicle based on the multi-head measurement model accepting one or a combination of the measurements of the satellite signals (209, 130g) subject to the measurement noise and the estimation of the state of the vehicle subject to the estimation noise.