Abstract The present bachelor thesis presents the necessary methods for an exact selflocalization by using an Inertial Mesurment Unit (IMU) and the odometry of an autonomous lawn mower. This self-localization shall be used in later work together with a localization of a particle filter. The required standard models [12] for the individual sensor systems were examined and the required parameters determined. Measurements were taken with the autonomous lawn mower to develop a Kalman filter [15] based on the data obtained.