Patent ID: 8374783

Claim:
A method for determining a position of a mining, agricultural or rail vehicle including: at least one GNSS sensor receiving GNSS signals of a global positioning system; at least one physical sensor generating physical data indicative of at least one measured physical parameter of at least a part of the mining, agricultural or rail vehicle; seeding a recursive statistical estimator with an output of the at least one GNSS sensor to determine an estimated position and velocity of the mining, agricultural or rail vehicle; seeding the recursive statistical estimator with information based on a mining, agricultural or rail vehicle-specific movement limitation characteristic by defining a restriction for values of the at least one physical sensor; combining the estimated position and velocity of the mining, agricultural or rail vehicle determined from the output of the at least one GNSS sensor with the physical data generated by the at least one physical sensor and with the mining, agricultural or rail vehicle-specific movement limitation characteristic to generate combined data; and seeding the recursive statistical estimator with the combined data to determine an updated estimated position of the mining, agricultural or rail vehicle.