To accomplish Navigation in areas denied Global Navigation Satellite System (GNSS), such as around buildings or in steep valleys, alternative methods must be used. Radio ranging systems have been a part of the navigation solution for years. To improve the position estimate it is believed that using vision, consumer grade inertial navigation systems, and any other measurement available can aid the navigation solution. To accomplish this, an extended Kalman .filter was developed. It was configured as a centralized .filter. This produced the optimal solution showing that as image measurements were added, the navigation solution did improve. To simulate this with multiple vehicle and/or soldiers required a large state vector for the Kalman filter. To manage the large number of states and efficiently incorporate them into influence matrix's, a \"Rosetta stone\" was designed for state management. | Performance Enhancements Of Ranging Radio Aided Navigation by Patric J Ernsberger, Paperback | Indigo Chapters