1. A method of navigating with the use of correlation within a select area, the method comprising: storing data required to reconstruct ranges and associated angles to objects along with statistical accuracy information while initially traversing throughout the select area; measuring then current ranges and associated angles to the objects during a subsequent traversal throughout the select area; correlating the then current ranges and associated angles to the objects to reconstructed ranges and associated angles to the objects from the stored data; determining at least one of then current location and heading estimates within the select area based at least in part on correlation results; and using the at least one of the then current location and heading estimates for navigation.