A system comprising: a GNSS system configured to provide GNSS location information related to a vehicle; an inertial navigation system operatively interconnected with the GNSS system, the inertial navigation system configured to provide inertial location information related to the vehicle; an image capture device configured to obtain a sequence of images of a fixed field of view, wherein the sequence of images includes at least three images, wherein at least one of the at least three images is a partially occluded image; a vision system configured to identify vision system location information using the obtained sequence of images, wherein the vision system information is associated with tie points identified in the sequence of images, wherein the vision system identifies less than six tie points in each of the at least one partially occluded image, and wherein the vision system is further configured to forward the vision system location information to an error correction module, the error correction module configured to implement a linear error correction model configured to utilize as input the inertial location information and the vision system location information to produce updated inertial location information; and a Kalman filter configured to determine a location of the vehicle using the GNSS location information, the updated inertial location information and the vision system location information; characterized in that: the error correction module is configured to generate inertial navigation system adjustment information if the vision system identifies a total of 12 tie points within the sequence of images, wherein the inertial navigation adjustment information is utilized to produce updated inertial location information. a GNSS system configured to provide GNSS location information related to a vehicle; an inertial navigation system operatively interconnected with the GNSS system, the inertial navigation system configured to provide inertial location information related to the vehicle; an image capture device configured to obtain a sequence of images of a fixed field of view, wherein the sequence of images includes at least three images, wherein at least one of the at least three images is a partially occluded image; a vision system configured to identify vision system location information using the obtained sequence of images, wherein the vision system information is associated with tie points identified in the sequence of images, wherein the vision system identifies less than six tie points in each of the at least one partially occluded image, and wherein the vision system is further configured to forward the vision system location information to an error correction module, the error correction module configured to implement a linear error correction model configured to utilize as input the inertial location information and the vision system location information to produce updated inertial location information; and a Kalman filter configured to determine a location of the vehicle using the GNSS location information, the updated inertial location information and the vision system location information; characterized in that: the error correction module is configured to generate inertial navigation system adjustment information if the vision system identifies a total of 12 tie points within the sequence of images, wherein the inertial navigation adjustment information is utilized to produce updated inertial location information. the error correction module is configured to generate inertial navigation system adjustment information if the vision system identifies a total of 12 tie points within the sequence of images, wherein the inertial navigation adjustment information is utilized to produce updated inertial location information.