A method, performed by a pose estimation control system, for positioning a hinged vehicle including a primary part and a secondary part coupled to the primary part at a project site, comprising: capturing a first set of images of at least a portion of the secondary part in a first state and a second set of images of at least a portion of the secondary part in a second state; storing the first and second sets of images in memory; linking the first set of images to the first state and the second set of images to the second state; receiving digital image data representing one or more features of the secondary part; comparing the digital image data to the first set of images and the second set of images, and determining a current state of the secondary part based on the comparison between the digital image data and the first and second sets of images; performing image analysis on the digital image data to identify positions of the one or more features of the secondary part; identifying an angle of at least a portion of the secondary part based on the positions of the one or more features of the secondary part from the analysis of the digital image data; calculating a current position of the secondary part based on the angle of the at least a portion of the secondary part; calculating a positional difference between a correct position at the project site for the secondary part and a current position of the secondary part at the project site; initiating a change in a position of the primary part to compensate for the positional difference and to position the secondary part on the correct position; and modifying control of the hinged vehicle based on the determined current state. capturing a first set of images of at least a portion of the secondary part in a first state and a second set of images of at least a portion of the secondary part in a second state; storing the first and second sets of images in memory; linking the first set of images to the first state and the second set of images to the second state; receiving digital image data representing one or more features of the secondary part; comparing the digital image data to the first set of images and the second set of images, and determining a current state of the secondary part based on the comparison between the digital image data and the first and second sets of images; performing image analysis on the digital image data to identify positions of the one or more features of the secondary part; identifying an angle of at least a portion of the secondary part based on the positions of the one or more features of the secondary part from the analysis of the digital image data; calculating a current position of the secondary part based on the angle of the at least a portion of the secondary part; calculating a positional difference between a correct position at the project site for the secondary part and a current position of the secondary part at the project site; initiating a change in a position of the primary part to compensate for the positional difference and to position the secondary part on the correct position; and modifying control of the hinged vehicle based on the determined current state. <EOS>