Method for determining the position of a vehicle by means of a sensor unit, IMU, a receiving device for receiving signals from at least one satellite of a satellite navigation system, and an electronic filter device, comprising the steps of: - receiving satellite data from a satellite by means of the receiving device and receiving sensor data by means of the sensor unit, IMU, - supplying the sensor data and the satellite data to the filter device, wherein the satellite data are raw data, - using the filter device to convert the satellite data to a reference point corresponding to the position of the sensor unit, IMU, - determining the position of the vehicle by means of the filter device by filtering and/or fusing the satellite data and the sensor data, wherein the satellite data are converted by the filter device to the reference point starting from a phase centre point, PZ, of the receiving device, and an offset between the reference point and the phase centre point, PZ, is corrected by means of the conversion by the filter device, characterized in that , in order to determine the phase centre point, PZ, a calibration is carried out on the basis of the location of the satellite relative to the location and the orientation of the receiving device and/or of the vehicle, and wherein the calibration comprises the steps of: - determining first distance information between the receiving device and a satellite of a satellite navigation system, - capturing position information and orientation information relating to the receiving device on the basis of sensor information, - determining second distance information between the receiving device and the satellite on the basis of the position information captured by means of sensor information, - determining a discrepancy between the first distance information and the second distance information, - determining correction information on the basis of the determined discrepancy, and - storing the correction information with reference to the orientation information captured by means of the sensor information, in particular the location and orientation of the receiving device, in an electronic data memory. - receiving satellite data from a satellite by means of the receiving device and receiving sensor data by means of the sensor unit, IMU, - supplying the sensor data and the satellite data to the filter device, wherein the satellite data are raw data, - using the filter device to convert the satellite data to a reference point corresponding to the position of the sensor unit, IMU, - determining the position of the vehicle by means of the filter device by filtering and/or fusing the satellite data and the sensor data, - determining first distance information between the receiving device and a satellite of a satellite navigation system, - capturing position information and orientation information relating to the receiving device on the basis of sensor information, - determining second distance information between the receiving device and the satellite on the basis of the position information captured by means of sensor information, - determining a discrepancy between the first distance information and the second distance information, - determining correction information on the basis of the determined discrepancy, and - storing the correction information with reference to the orientation information captured by means of the sensor information, in particular the location and orientation of the receiving device, in an electronic data memory. <EOS>