A method of operating an industrial vehicle in a physical environment, wherein: the industrial vehicle comprises a mobile computer and a plurality of sensor devices; the plurality of sensor devices comprise a wheel encoder, an inertial measurement unit, or both, for providing odometry data of the industrial vehicle; the plurality of sensor devices comprises at least one additional sensor device that provides details of the physical environment; characterised in that the mobile computer comprises an environment based navigation module that employs a priority queue that receives input messages from the plurality of sensor devices providing odometry data and details of the physical environment and associates each input message with a data source and an acquisition time stamp; the plurality of sensor devices have different sampling periods and different sampling delays so that an order in which sensor data from the plurality of sensor devices is acquired is not the same as an order in which the sensor data becomes available to the EBN module; the industrial vehicle is moved along a vehicle path by utilizing an Extended Kalman Filter of the mobile computer to model the position of the industrial vehicle in a two-dimensional plane as a probability density, use the odometry data to update a predicted position of the industrial vehicle, and correct for error in the predicted position of the industrial vehicle using environmental features extracted from the additional sensor device by comparing the extracted environmental features with a known map of the physical environment; the predicted vehicle position update by the Extended Kalman Filter is delayed until a trigger message initiating the vehicle position update is received by the EBN module; and the EBN module processes the input messages in the priority queue in the order of acquisition time upon availability of the trigger message. the industrial vehicle comprises a mobile computer and a plurality of sensor devices; the plurality of sensor devices comprise a wheel encoder, an inertial measurement unit, or both, for providing odometry data of the industrial vehicle; the plurality of sensor devices comprises at least one additional sensor device that provides details of the physical environment; the mobile computer comprises an environment based navigation module that employs a priority queue that receives input messages from the plurality of sensor devices providing odometry data and details of the physical environment and associates each input message with a data source and an acquisition time stamp; the plurality of sensor devices have different sampling periods and different sampling delays so that an order in which sensor data from the plurality of sensor devices is acquired is not the same as an order in which the sensor data becomes available to the EBN module; the industrial vehicle is moved along a vehicle path by utilizing an Extended Kalman Filter of the mobile computer to model the position of the industrial vehicle in a two-dimensional plane as a probability density, use the odometry data to update a predicted position of the industrial vehicle, and correct for error in the predicted position of the industrial vehicle using environmental features extracted from the additional sensor device by comparing the extracted environmental features with a known map of the physical environment; the predicted vehicle position update by the Extended Kalman Filter is delayed until a trigger message initiating the vehicle position update is received by the EBN module; and the EBN module processes the input messages in the priority queue in the order of acquisition time upon availability of the trigger message.