A vehicle guidance system comprising: a vehicle trajectory management system configured to generate a vehicle travel path including a plurality of waypoints including a departure location, a destination location, and at least one vehicle re-energization location positioned between the departure location and the destination location; a position reference system comprising a transmitter configured to emit a transmission signal including location information associated with a coordinate system; and a vehicle comprising: a receiver configured to receive the transmission signal; an energy storage device (420, 506) configured to store energy for propelling said vehicle along the vehicle travel path, wherein the at least one vehicle re-energization location is configured to add an amount of energy to the energy storage device (420, 506); and a control device comprising a control system in communication with said position reference system and said vehicle trajectory management system, said control device configured to control said vehicle along the vehicle travel path based on the location information received from the position reference system; and characterized in that: the transmission signal also includes temporal location information indicating a time of transmission of the transmission signal for determining a distance of the vehicle from the position reference system when the transmission signal is received by the receiver, wherein said position reference system is configured to scan a beam encoded with the location information and emitted by the transmitter in a grid (114, 116) pattern, wherein the location information corresponds to a current location of the beam within the grid (114, 116) pattern, and wherein the temporal location information allows for a determination of a spacing between each horizontal line of the grid (114, 116) pattern and a spacing between each vertical line of the grid (114, 116) pattern at the distance from the position reference system where the vehicle receives the transmission signal. a vehicle trajectory management system configured to generate a vehicle travel path including a plurality of waypoints including a departure location, a destination location, and at least one vehicle re-energization location positioned between the departure location and the destination location; a position reference system comprising a transmitter configured to emit a transmission signal including location information associated with a coordinate system; and a vehicle comprising: a receiver configured to receive the transmission signal; an energy storage device (420, 506) configured to store energy for propelling said vehicle along the vehicle travel path, wherein the at least one vehicle re-energization location is configured to add an amount of energy to the energy storage device (420, 506); and a control device comprising a control system in communication with said position reference system and said vehicle trajectory management system, said control device configured to control said vehicle along the vehicle travel path based on the location information received from the position reference system; and characterized in that: a receiver configured to receive the transmission signal; an energy storage device (420, 506) configured to store energy for propelling said vehicle along the vehicle travel path, wherein the at least one vehicle re-energization location is configured to add an amount of energy to the energy storage device (420, 506); and a control device comprising a control system in communication with said position reference system and said vehicle trajectory management system, said control device configured to control said vehicle along the vehicle travel path based on the location information received from the position reference system; and characterized in that: the transmission signal also includes temporal location information indicating a time of transmission of the transmission signal for determining a distance of the vehicle from the position reference system when the transmission signal is received by the receiver, wherein said position reference system is configured to scan a beam encoded with the location information and emitted by the transmitter in a grid (114, 116) pattern, wherein the location information corresponds to a current location of the beam within the grid (114, 116) pattern, and wherein the temporal location information allows for a determination of a spacing between each horizontal line of the grid (114, 116) pattern and a spacing between each vertical line of the grid (114, 116) pattern at the distance from the position reference system where the vehicle receives the transmission signal.