Abstract: A data correlated real time passive threat positioning system uses parallel estimated navigation filters. A threat data correlation process accepts radar warning receiver track file data and generates correlated threat data. A threat data management system and a raw threat positioning system accepts aircraft heading and angle of arrival of the threat to generate a threat status indicator and a threat position measurement. Navigation filtering management apparatus accepts the threat status indicators and provide position filter controls. Parallel estimation navigation filters use the position filter control and the threat of position measurements to generate estimated threat positions for a number of threats. The estimated threat positions are updated and threat situation awareness is presented to the pilot in real-time. Elevation extraction apparatus uses a terrain data base and the threat estimated position to predict the elevation of the threat.