An inertial navigation system comprising: a navigation controller configured to generate inertial data associated with motion of a vehicle (50, 150) based on at least one navigation sensor configured on the vehicle (50, 150) and based on magnetic anomaly data (NAV M); and a magnetic anomaly inertial navigation system-aiding system comprising a plurality of magnetometers distributed in a respective plurality of locations on the vehicle (50, 150) and a magnetometer controller configured to receive the magnetic real-time field measurements (M 1, M 2, M 3, M n) from each of the respective plurality of magnetometers and to generate the magnetic anomaly data (NAV M) associated with a location of a fixed magnetic anomaly based on a comparison of the real-time magnetic field measurements (M 1, M 2, M 3, M n) of the plurality of magnetometers, the magnetometer controller being further configured to implement a correlation algorithm and the real-time magnetic field measurements, where the correlation algorithm provides feature matching on the real-time magnetic field measurements (M 1, M 2, M 3, M n) with respect to each other to determine errors in the real-time magnetic field measurements with respect to each other, the magnetic anomaly inertial navigation system-adding system providing error correction to the navigation controller with respect to the fixed magnetic anomaly, where the magnetometer controller is configured to generate a confidence score associated with the detection of the fixed magnetic anomaly based on the correlation algorithm, and wherein the magnetometer controller is configured to implement the confidence score and the real-time magnetic field measurements (M 1, M 2, M 3, M n) to generate the magnetic anomaly data (NAV M). a navigation controller configured to generate inertial data associated with motion of a vehicle (50, 150) based on at least one navigation sensor configured on the vehicle (50, 150) and based on magnetic anomaly data (NAV M); and a magnetic anomaly inertial navigation system-aiding system comprising a plurality of magnetometers distributed in a respective plurality of locations on the vehicle (50, 150) and a magnetometer controller configured to receive the magnetic real-time field measurements (M 1, M 2, M 3, M n) from each of the respective plurality of magnetometers and to generate the magnetic anomaly data (NAV M) associated with a location of a fixed magnetic anomaly based on a comparison of the real-time magnetic field measurements (M 1, M 2, M 3, M n) of the plurality of magnetometers, the magnetometer controller being further configured to implement a correlation algorithm and the real-time magnetic field measurements, where the correlation algorithm provides feature matching on the real-time magnetic field measurements (M 1, M 2, M 3, M n) with respect to each other to determine errors in the real-time magnetic field measurements with respect to each other, the magnetic anomaly inertial navigation system-adding system providing error correction to the navigation controller with respect to the fixed magnetic anomaly, where the magnetometer controller is configured to generate a confidence score associated with the detection of the fixed magnetic anomaly based on the correlation algorithm, and wherein the magnetometer controller is configured to implement the confidence score and the real-time magnetic field measurements (M 1, M 2, M 3, M n) to generate the magnetic anomaly data (NAV M).