In this paper, we analyzed the navigation error of TERCOM (TErrain COntour Matching), which is TRN (Terrain Referenced Navigation) batch processing, caused by scale factor error of radar altimeter and proved the possibility of false position fix when we use the TERCOM's feature matching algorithm. Based on these, we proposed the new TRN batch processing algorithm using the slope measurements of terrain. The proposed technique measures on periodic changes in the slope of the terrain elevation

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... file, and these measurements are used in the feature matching algorithm. By using the slope of terrain data, the impact of scale factor errors can be compensated. By simulation, we verified improved outcome using this approach compared to the result using the conventional method.