A container handling vehicle for handling storage containers in an automated storage and retrieval system, comprising a vehicle body, a cavity arranged centrally within the vehicle body, the cavity being configured to receive and fully enclose a maximum sized storage container intended to be picked up from an underlying three-dimensional grid, first rolling means comprising two first pairs of drive wheels arranged on opposing sides of, and rotatably connected to, the vehicle body and configured to move the vehicle along a first lateral direction, second rolling means comprising two second pairs of drive wheels arranged on opposing sides of, and rotatably connected to, the vehicle body and configured to move the vehicle along a second lateral direction, the second direction being perpendicular to the first direction, and a rolling means displacement system (41,42) arranged to displace the first rolling means in a vertical direction perpendicular to the first and second lateral directions (X,Y), between a lowered position located lower than the vertical position of the second rolling means and a raised position located higher than the vertical position of the second rolling means, characterized in that the container handling vehicle further comprises a first track wheel rotatably connected to the rolling means displacement system (41,42), having a rotational axis parallel to the second lateral direction, such that a lowermost part of the first track wheel is at any time aligned with a lowermost part of the first rolling means during use, and a first position measurement system (33,35) at least indirectly coupled to the first track wheel for acquisition of angular positioning data thereof, and a second track wheel rotatably connected to the vehicle body with a rotational axis parallel to the first direction, such that a lowermost part of the second track wheel is at any time aligned with a lowermost part of the second rolling means during use and a second position measurement system (33,35) coupled to the second track wheel for acquisition of angular positioning data thereof, wherein the first track wheel is arranged between the drive wheels of at least one of the two first pairs of drive wheels and the second track wheel is arranged between the drive wheels of at least one of the two second pairs of drive wheels, and each of the first and second positioning measurement system comprises an encoder rotatably arranged within the first and second track wheel (30a,30b), respectively, and a track wheel sensor arranged in signal communication with the encoder for reading encoder transmitting signals containing annular positioning data of the respective first and second track wheel (30a,30b). a vehicle body, a cavity arranged centrally within the vehicle body, the cavity being configured to receive and fully enclose a maximum sized storage container intended to be picked up from an underlying three-dimensional grid, first rolling means comprising two first pairs of drive wheels arranged on opposing sides of, and rotatably connected to, the vehicle body and configured to move the vehicle along a first lateral direction, second rolling means comprising two second pairs of drive wheels arranged on opposing sides of, and rotatably connected to, the vehicle body and configured to move the vehicle along a second lateral direction, the second direction being perpendicular to the first direction, and a rolling means displacement system (41,42) arranged to displace the first rolling means in a vertical direction perpendicular to the first and second lateral directions (X,Y), between a lowered position located lower than the vertical position of the second rolling means and a raised position located higher than the vertical position of the second rolling means, characterized in that the container handling vehicle further comprises a first track wheel rotatably connected to the rolling means displacement system (41,42), having a rotational axis parallel to the second lateral direction, such that a lowermost part of the first track wheel is at any time aligned with a lowermost part of the first rolling means during use, and a first position measurement system (33,35) at least indirectly coupled to the first track wheel for acquisition of angular positioning data thereof, and a second track wheel rotatably connected to the vehicle body with a rotational axis parallel to the first direction, such that a lowermost part of the second track wheel is at any time aligned with a lowermost part of the second rolling means during use and a second position measurement system (33,35) coupled to the second track wheel for acquisition of angular positioning data thereof, wherein the first track wheel is arranged between the drive wheels of at least one of the two first pairs of drive wheels and the second track wheel is arranged between the drive wheels of at least one of the two second pairs of drive wheels, and each of the first and second positioning measurement system comprises an encoder rotatably arranged within the first and second track wheel (30a,30b), respectively, and a track wheel sensor arranged in signal communication with the encoder for reading encoder transmitting signals containing annular positioning data of the respective first and second track wheel (30a,30b).