A technology that augments a Global Navigation Satellite System (GNSS) would find widespread commercial value. GNSS systems give intermittent, inaccurate or no service in places such as urban canyons, indoors, tunnels or remote regions. There already exist products that utilize terrestrial radiometry signals along with GNSS to provide a better service. However, further augmentation of vision based terrain matching or local radiometric readings would improve the accuracy of the GNSS system and allow it to work in remote areas as well. Also, the sub-modules of sensor fusion, terrain matching and fault context learning have commercial value of their own. Terrain matching based localization from vision on ground robots has tremendous applications in the robotics industry allowing for robots to better localize indoors enabling products in huge markets like civilian service robots with applications such as assistive robots in hospitals. NASA is poised towards missions increasing in frequency and complexity to Moon, Mars and to farther reaches of the solar system. The requirement for a localization system which allows for close to plug-and-play functionality for the sensors is important. The different types of mobile units on the lunar surface might each have unique sets of sensors. A modular system with proven capability will allow for widespread adapting of the technology allowing for a sustained funding and technology maturation. The multi-component localization system will allow the position estimates to be robust.