Underground worksite vehicle positioning control

Abstract

According to an example aspect of the present invention, there is provided a method, comprising: defining accumulated dead-reckoning based positioning error of a vehicle at a worksite comprising an underground tunnel system, detecting a trigger for signal acquisition for satellite based first positioning source, in response to the detected trigger for signal acquisition, generating a satellite positioning pendency estimate indicative of remaining time period for obtaining satellite-based positioning information by the first positioning source, defining speed for the vehicle on the basis of the accumulated dead-reckoning based positioning error and the satellite positioning pendency estimate.