A method positioning user equipment including a camera for acquiring digital images, including: defining a three-dimensional model of an environment through points defined by a set of coordinates and a color information; the user equipment acquiring a query image by capturing, by the camera, a portion of the environment; estimating an initial camera parameters configuration of the camera; evaluating a similarity between the query image and an initial three-dimensional image obtained from the three-dimensional model of the environment as seen by a virtual camera having the initial camera parameters configuration; modifying a camera parameters configuration of the virtual camera to increase similarity between the initial three-dimensional image and the query image up to a predetermined value; and generating an additional three-dimensional image based on the three-dimensional model of the environment, obtained from the three-dimensional model of the environment as seen by a modified virtual camera having the modified camera parameters configuration.