The present invention relates to a method for estimating an individual position. In order to improve the estimation of the individual position of a vehicle, for example, at least one first position measurement is carried out by a first positioning system and at least one second position measurement is carried out by at least one second positioning system. A third position measurement is also carried out by the first positioning system. The third position measurement is carried out after the first and second position measurements. The individual position is estimated on the basis of at least the third position measurement and at least one position error value. The position error value is determined on the basis of the at least one first position measurement and the at least one second position measurement.