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