Method and arrangement for mapping an agricultural field

A method for mapping an agricultural field (32) comprising the steps of: (A) equipping a vehicle (10) with a measuring device (44) for detecting landmarks (78), a positioning signal receiver (40) and a sensor (82) for determining the orientation of the vehicle (10) in space, (B) placing the vehicle (10) to a position on the field (32) or in the vicinity of the field (32), (C) providing of a landmark (78) at a defined point of the field (32), (D) detecting the position of the position determination signal receiver (40) and the orientation of the vehicle (10), (E) detecting the distance of the landmark (78) of the measuring device (44) and the spatial orientation of the landmark (78) relative to the vehicle (10), (F) calculating the position of the landmark (78) based on the results of steps (d) and (e) and storing the calculated position, (G) repeating steps (c) through (f) to further defined points of the field (32) to the box (32) is mapped.