Methods and apparatus automatically determine a location, such as of an aircraft or spacecraft, by matching images of terrain below the craft, as captured by a camera, radar, etc. in the craft, with known or predicted terrain landmark data stored in an electronic data store. A star tracker measures attitude of the camera. An additional navigation aiding sensor provides additional navigational data. Optionally, a rangefinder measures altitude of the camera above the terrain. A navigation filter uses the attitude, the additional navigational data, and optionally the altitude, to resolve attitude, and optionally altitude, ambiguities and thereby avoid location solution errors common in prior art terrain matching navigation systems.