Relative navigation system and a method thereof

A method of providing a relative navigation system by projecting into space from a first object (120) a grid (170, 190) that is repeatedly detected from a second object (110) having a second relative reference frame (114) associated with a second origin point (112) on the second object (110) and using range and attitude between the objects to adjust the attitude or range of at least one of the first (120) and second (110) objects.