Air Force leaders have recognized the growing role of megacities and complex urban terrain in both combat and humanitarian operations. This terrain requires developing capabilities that enhance commander situational awareness and decision making accuracy, especially against near-peer threats that may deny communications and existing GPS. One of the most critical requirements in these complex operational environments is knowing the location of Air Force and friendly personnel, despite dense urban structures or evolving ground conditions. The need for enhanced situational awareness in urban environments exists outside of combat zones, especially for fire and rescue operations.