A position estimation system including a first arrangement for providing an image with a known target in a known reference frame. A second arrangement correlates the image with a stored image. The correlation is used to compute an error with respect to a position estimate. In a specific embodiment, the...http://www.google.com/patents/US7395156?utm_source=gb-gplus-sharePatent US7395156 - System and method for geo-registration with global positioning and inertial navigation
