System and method for calculating the physical positioning of a container handling vehicle on a grid of an automated storage and retrieval
system. wherein the automated storage and retrieval
system comprises a framework structure which includes a rail
system comprising a first set of parallel rails arranged to guide movement of a container handling vehicle in a first direction across the top of the framework structure, and a second set of parallel rails arranged perpendicular to the first set of rails to guide movement of the container handling vehicle in a second direction which is perpendicular to the first direction. the first and second sets of parallel rails dividing the rail system into a plurality of grid cells. the framework structure comprising upright members defining storage columns for storing containers within the framework structure, wherein the automated storage and retrieval system comprises container handling vehicles configured to operate on the rail system, a
wireless communication system for communicating instructions and information between the central computer system and the container handling vehicles and between the container handling vehicles, wherein the
wireless communication system comprises a plurality of transceivers positioned at known locations (501) either on the grid or around the grid, and a
transceiver positioned on an unknown position (503) on the grid and using a
signal sent between the transceivers positioned at known locations (501) on the grid or around the grid and the
transceiver positioned on an unknown position (503) on the grid for calculating the distance between the sender of a
signal and the
receiver of the
signal.