The Earth\u27s magnetic field has been the bedrock of navigation for centuries. The latest research highlights the uniqueness of magnetic field measurements based on position due to large scale variations as well as localized perturbations. These observable changes in the Earth\u27s magnetic field as a function of position provide distinct information which can be used for navigation. This dissertation describes ground vehicle navigation exploiting variation in Earth\u27s magnetic field using a self-contained navigation system consisting of only a magnetometer and magnetic field maps. In order to achieve navigation, effective calibration enables repeatable magnetic field measurements from different vehicles and facilitates mapping of the observable magnetic field as a function of position. A new modified ellipsoid calibration technique for strapdown magnetometers in large vehicles is described, as well as analysis of position measurement generation comparing a multitude of measurement compositions using existing and newly developed likelihood techniques. Finally, navigation solutions are presented
