there is provided a vehicle with the capability of estimating its position . an exemplary vehicle comprises a positioning unit configured to operate in a first mode for communicating with one or more first radio - responsive devices and operate in a second mode for communicating with one or more second radio responsive devices . the positioning unit is configured to estimate a coarse position of the vehicle based on data received from the first transceiver , and estimate a fine position of the vehicle based on data received from the second transceiver .