1. A method of determining the position of a user comprising: providing one or more inertial measurement unit (IMU)/inertial navigation systems (INS) devices proximate to a user; collecting data from the one or more IMU/INS devices; creating signal processing representations from IMU/INS data, comprising: creating rotation and pace invariant gait dynamics images (GDI); and coupling the rotation and pace invariant GDIs with a land class database to identify a user's position relative to known land classes; and determining a relative position of the user.