IMPROVED DETERMINATION OF POSE FOR A ROBOTIC WORK TOOL

A method for use in a robotic work tool system comprising a robotic work tool 100, the robotic work tool comprising a controller 110, a deduced reckoning sensor 180 comprising a direction sensor 181, and wherein the method comprises: receiving sensor input from the deduced reckoning sensors 180, determining a current sensed position of the robotic work tool 100 based on the received sensor input and a previous position of the robotic work tool 100, calibrating the direction sensor, determining an error in sensor input, interpolating the error in sensor input to the previous position, and determining a corrected position of the robotic work tool 100 based on the received sensor input, the interpolated error and the previous position of the robotic work tool 100.