1. A location determination device, the device comprising: a ranging device configured to measure at least one of angles, ranges, or attitude data with regard to objects; a scene database configured to store the at least one of angles, ranges, or attitude data with regard to objects to create a map having sections including information of at least one of the angles, ranges, or attitude data with regard to objects; and a correlation system, the correlation system including a processor configured to correlate at least one of current measured angles, ranges, or attitude data with regard to objects with the stored at least one of the angles, ranges, or attitude data with regard to objects in at least one section of the map to determine at least one of location, heading, or attitude.