Method and apparatus for determining the position and orientation of a mobile transmitter

606306 Disclosed is a method for determining the position and orientation of a mobile transmitter (10), which has at least two linearly polarised antennas (11) arranged at a predefined angle to one another. A plurality of receivers (3) can be synchronised with the mobile transmitter of which the position is known. Each receives transmitted signals of predefined carrier frequency by means of a circularly polarised antenna (13). A field-theoretical model of the transmission path between the mobile transmitter (10) and receivers (3) is set up, which defines the carrier phase measured values. The field-theoretical model is implemented in a in a Kalman filter (4) which evaluates the receiver signals in terms of carrier phase measured values and/or measured time of arrival values. The position and orientation of the mobile transmitter (10) is then determined by the Kalman filter (4) with use of the field theoretical model and the carrier phase measured values and/or measured time of arrival values established from the receiver signals.