A UNIT AND METHOD FOR IMPROVING POSITIONING ACCURACY

Example embodiments presented herein are directed towards a method, a vehicle and a unit for improving positioning accuracy of an autonomous vehicle driving on a road, the unit comprising: a first computation unit configured to compute a first position of the vehicle on the road at a time T1, where the computation is performed using data from at least an inertial measurement unit (IMU); a second computation unit configured to compute a second position of the vehicle on the road at the time T1, where the computation is performed using data from at least one external sensor and a map; a comparison unit configured to compute a position difference between the computed first position and the computed second position; a correction unit configured to correct an error parameter of at least the IMU, where the error parameter is used for correcting a third position of the vehicle computed by the first computation unit at a time T2 with the computed position difference at time T1, if the second computation unit is unable to compute a fourth position of the vehicle at the time T2.