An inertial navigation subsystem, INS, Global Navigation Satellite System, GNSS, navigation system comprising on a first moving vehicle a constellation of target points proximate to a rendezvous site; one or more transmitters that transmit target position information corresponding to the respective target points; on a second moving vehicle a camera with known properties; a receiver that receives the transmitted target position information; and a navigation unit including - a camera image subsystem that determines calculated relative positions and orientations of the target points based on one or more camera images that include at least four of the target points, - a GNSS subsystem including a GNSS receiver, - an INS subsystem including an inertial measurement unit, and - one or more processors configured to calculate an absolute position and orientation corresponding to the second vehicle based on the calculated relative position of the rendezvous site and the received target position information, the one or more processors providing the calculated absolute position and orientation corresponding to the second vehicle to at least the INS subsystem; the INS subsystem determining a local position and orientation for use in an initialization process based on the calculated absolute position and orientation corresponding to the second vehicle. on a first moving vehicle a constellation of target points proximate to a rendezvous site; one or more transmitters that transmit target position information corresponding to the respective target points; a constellation of target points proximate to a rendezvous site; one or more transmitters that transmit target position information corresponding to the respective target points; on a second moving vehicle a camera with known properties; a receiver that receives the transmitted target position information; and a navigation unit including - a camera image subsystem that determines calculated relative positions and orientations of the target points based on one or more camera images that include at least four of the target points, - a GNSS subsystem including a GNSS receiver, - an INS subsystem including an inertial measurement unit, and - one or more processors configured to calculate an absolute position and orientation corresponding to the second vehicle based on the calculated relative position of the rendezvous site and the received target position information, the one or more processors providing the calculated absolute position and orientation corresponding to the second vehicle to at least the INS subsystem; the INS subsystem determining a local position and orientation for use in an initialization process based on the calculated absolute position and orientation corresponding to the second vehicle. a camera with known properties; a receiver that receives the transmitted target position information; and a navigation unit including - a camera image subsystem that determines calculated relative positions and orientations of the target points based on one or more camera images that include at least four of the target points, - a GNSS subsystem including a GNSS receiver, - an INS subsystem including an inertial measurement unit, and - one or more processors configured to calculate an absolute position and orientation corresponding to the second vehicle based on the calculated relative position of the rendezvous site and the received target position information, the one or more processors providing the calculated absolute position and orientation corresponding to the second vehicle to at least the INS subsystem; - a camera image subsystem that determines calculated relative positions and orientations of the target points based on one or more camera images that include at least four of the target points, - a GNSS subsystem including a GNSS receiver, - an INS subsystem including an inertial measurement unit, and - one or more processors configured to calculate an absolute position and orientation corresponding to the second vehicle based on the calculated relative position of the rendezvous site and the received target position information, the one or more processors providing the calculated absolute position and orientation corresponding to the second vehicle to at least the INS subsystem; the INS subsystem determining a local position and orientation for use in an initialization process based on the calculated absolute position and orientation corresponding to the second vehicle.