Fecha de publicación: 23/03/2017 Fuente: Wipo "precision farming" Systems, methods, and devices are provided herein for determining the relative positions between movable objects and improving their positioning accuracy. A method for positioning at least one mobile tracking device (102) relative to at least one target object (104) may be provided. The method may comprise obtaining an estimated location of the target object(104), and determining a relative position between the target object (104) and the mobile tracking device(102) based on: the estimated location of the target object (104), an estimated location of the mobile tracking device (102), and a correction measurement.