1. An angles-only method of determining position and velocity information for a moving observer in a three-dimensional space, the method comprising: obtaining an integer number n observations by the observer of objects with known positions at n different times, where n is at least three; generating line of position vectors in the three-dimensional space individually corresponding to one of the observations; and determining at least one estimated position point and velocity information for the observer in the three-dimensional space for which Euclidian distances between the line of position vectors and the corresponding observer positions are minimum using a closed-form least-squares minimization.