Method for estimating an ego position, comprising: - providing at least one first position measurement by way of a first positioning system , - providing at least one second position measurement by way of at least one second positioning system , - providing a third position measurement by way of the first positioning system , at a time after the first and second position measurement, and - estimating the ego position on the basis of at least the third position measurement and at least one position error value that is determined on the basis of the at least one first position measurement and the at least one second position measurement, characterized in that the method furthermore comprises: - providing an autocorrelation order A for position measurements from the first positioning system , and in that the ego position is estimated on the basis of at least the third position measurement and A position error values that are determined on the basis of A first position measurements and A second position measurements, providing A autocorrelation coefficients, and in that the ego position is furthermore estimated on the basis of at least the A autocorrelation coefficients, wherein the ego position c i a is estimated according to the following equation: c i a = z i a − ∑ j = 1 A γ j z i − j a − z i − j w with: the third position measurement z i a at the time i; the A autocorrelation coefficients γ j ; the A first position measurements z i − j a at times i-1 to 1-A; and the A second position measurements z i − j w at the times i-1 to 1-A. - providing at least one first position measurement by way of a first positioning system , - providing at least one second position measurement by way of at least one second positioning system , - providing a third position measurement by way of the first positioning system , at a time after the first and second position measurement, and - estimating the ego position on the basis of at least the third position measurement and at least one position error value that is determined on the basis of the at least one first position measurement and the at least one second position measurement, - providing an autocorrelation order A for position measurements from the first positioning system , and in that the ego position is estimated on the basis of at least the third position measurement and A position error values that are determined on the basis of A first position measurements and A second position measurements, providing A autocorrelation coefficients, and in that the ego position is furthermore estimated on the basis of at least the A autocorrelation coefficients, wherein the ego position c i a is estimated according to the following equation: c i a = z i a − ∑ j = 1 A γ j z i − j a − z i − j w with: the third position measurement z i a at the time i; the A autocorrelation coefficients γ j ; the A first position measurements z i − j a at times i-1 to 1-A; and the A second position measurements z i − j w at the times i-1 to 1-A. the third position measurement z i a at the time i; the A autocorrelation coefficients γ j ; the A first position measurements z i − j a at times i-1 to 1-A; and the A second position measurements z i − j w at the times i-1 to 1-A. <EOS>