A robotic work tool configured to perform an operation pattern, the robotic work tool comprising a Global Navigation Satellite System, GNSS, device for determining a current position and at least one deduced reckoning navigation sensor for providing signals for deduced reckoning navigation, the robotic work tool being configured to: as long as the GNSS device is able to determine a reliable current position, operate in a manner determined based on the current position retrieved from the GNSS device, when the GNSS device is no longer able to determine a reliable current position, continue operation using deduced reckoning navigation, determine that the GNSS device is again able to determine a reliable current position and in response thereto determine an expected navigation parameter based on control data for the deduced reckoning navigation, the expected navigation parameter comprising an expected position and an expected direction, compare the expected navigation parameter to a current navigation parameter to determine a navigation error, the current navigation parameter comprising the current position and a current direction, determine if the navigation error is negligible, and if the navigation error is not negligible, cause the robotic work tool to change its trajectory to accommodate for the navigation error by aligning the trajectory with an expected trajectory, wherein the expected trajectory is determined as being along the expected direction originating from the expected position, characterised in that the robotic work tool is further configured to perform said change of the trajectory by returning to a position that has been passed and that should have been visited said position that should have been visited being aligned with the expected direction originating from the expected position and not coinciding with the expected position, wherein the position that should have been visited is determined to be a point in an area in which GNSS navigation is not possible, or the position that should have been visited is a position where a GNSS signal could have been received reliably again, but along the expected trajectory. as long as the GNSS device is able to determine a reliable current position, operate in a manner determined based on the current position retrieved from the GNSS device, when the GNSS device is no longer able to determine a reliable current position, continue operation using deduced reckoning navigation, determine that the GNSS device is again able to determine a reliable current position and in response thereto determine an expected navigation parameter based on control data for the deduced reckoning navigation, the expected navigation parameter comprising an expected position and an expected direction, compare the expected navigation parameter to a current navigation parameter to determine a navigation error, the current navigation parameter comprising the current position and a current direction, determine if the navigation error is negligible, and if the navigation error is not negligible, cause the robotic work tool to change its trajectory to accommodate for the navigation error by aligning the trajectory with an expected trajectory, wherein the expected trajectory is determined as being along the expected direction originating from the expected position, characterised in that the robotic work tool is further configured to perform said change of the trajectory by returning to a position that has been passed and that should have been visited said position that should have been visited being aligned with the expected direction originating from the expected position and not coinciding with the expected position, wherein the position that should have been visited is determined to be a point in an area in which GNSS navigation is not possible, or the position that should have been visited is a position where a GNSS signal could have been received reliably again, but along the expected trajectory.