Underground worksite vehicle positioning control

Abstract

According to an example aspect of the present invention, there is provided a method, comprising: defining first confidence level information for position information by a satellite based first positioning source of a vehicle at a worksite comprising an underground tunnel system, defining second confidence level information for position information by a second positioning source configured to position the vehicle based on environment scanning, selecting a positioning correction source for the vehicle on the basis of the first confidence level information and the second confidence level information, and applying the selected positioning correction source for correcting dead-reckoning based positioning for the vehicle.