A system and associated methods for coordinate-free measurement-domain navigation and guidance utilizing a plurality of radio signals of opportunity, without knowing the coordinates of transmitters of said radio signals in a reference system that steers a user from an initial location to a destination without calculating coordinates in said reference system. In one embodiment, radio signal parameters comprise received signal strength indications, differential times of arrival, and sector angles from a user to at least a pair of radio sources and a combination thereof that are used for coarse navigation and guidance toward the vicinity of said destination. In another embodiment, radio signal parameters comprise temporal characteristics of radio signals, propagation channel impulse responses, radio signal power spectra, propagation channel transfer functions, and a combination thereof that are used for vernier navigation and guidance within the vicinity of said destination.