A method of positioning a vehicle (N) that is provided with an electronic processor unit (2) connected both to a nonoptical positioning device (3, 4) and to an optical device (5) for taking external images, the electronic processor unit (2) including a database of landmarks including at least the geographical position of each landmark and a descriptive element describing each landmark, the method comprising the steps of:



estimating a first geographical position (P1e) for the vehicle (N) by means of the nonoptical positioning device (3, 4);
from the database, preselecting landmarks having geographical positions situated within a predetermined radius around the first geographical position (P1e) of the vehicle (N);
selecting the triplets that minimize geometrical errors;
controlling the optical device (5) for taking external images to take images of the selected landmarks;
selecting images in which the landmarks are indeed visible, identifying the landmarks in the images, and, from the images, measuring a relative or absolute bearing for each visible landmark; and
determining a second geographical position (POraw or POc) for the vehicle (N) from the measured relative or absolute bearings, optionally while taking account of movement of the vehicle (N) while the images of the landmarks of the triplet were being taken.