1. A method of navigating an agricultural vehicle, comprising the steps of: equipping the vehicle with a 3D imaging device for imaging surroundings of the vehicle, and with an image processing device; obtaining from the 3D imaging device frames imaging at least a part of the surrounding of the vehicle at different points of time while the vehicle is moving thus providing a chronological sequence of frames; analyzing the frames; establishing a change of pose of the vehicle using results of the analysis of at least two chronologically different frames; estimating a slip angle, wherein the vehicle comprises a steering angle gauge for measuring an angle of steering wheels of the agricultural vehicle; and comparing a change of pose and the angle of the steering wheels of the agricultural vehicle.