Abstract: A system for automatic mapping of a walled structure includes at least one mobile unit, preferably worn by a user. The mobile unit has a position tracking system for tracking a current position of the mobile unit, a wall detection system including a sensor arrangement for measuring range data from the mobile unit to at least four points, and a mapping processor associated with both the position tracking system and the wall detection system. The mapping processor processes the range data and, if the at least four points lie on a common plane according to a defined criterion, maps a wall in corresponding spatial relation to the current position. The mobile unit preferably also includes a wireless communication link for transmitting and receiving data indicative of the mapped walls to other mobile units and to a remote command control unit.