Abstract: The invention specifies a method for navigating a vehicle, in which an actual position of the vehicle is ascertained using the length and direction of distances covered, a control position is ascertained at intervals of time using external auxiliary means, and the actual position is reset to the control position if the gap between the actual position and the control position exceeds an error value. The aim of this is to improve position determination. To this end, the error value is changed on the basis of a reliability check.

Abstract: The invention specifies a method for navigating a vehicle, in which an output signal from a direction unit is used to determine the direction by processing a difference from a value (drift) which is valid for travel in a straight line. The aim of this is to have more accurate values available for direction determination. The drift is therefore determined by the following steps: a) the absolute direction of the vehicle at a first instant is determined using external auxiliary means, b) the absolute direction of the vehicle at a second instant is determined using external auxiliary means, c) a direction difference is formed from the two absolute directions, d) the direction changes ascertained by the direction unit are summed to form a direction sum, e) a correction variable is calculated using the direction difference and the direction sum, and f) a new drift is formed from a previous drift and the correction variable.

Abstract: The invention specifies a method for navigating a vehicle, in which at least one sensor is used to ascertain a vector for a distance covered from direction and length, a plurality of vectors are used to determine a position of the vehicle, and the position is depicted on a map position, where, under prescribed conditions, the direction ascertained by the sensor is corrected using a direction ascertained on the basis of the map. The aim of this is to be able to improve continuous position determination. To this end, if a direction difference arises between the sensor and the map, the direction difference, or the variables on which it is based, are subjected to a plausibility check.