Abstract: Aiming at solving the disadvantages of TERCOM (Terrain Contour Matching) algorithm in its locating precision is heavily influenced by INS (Inertial Navigation System) course deviation and its narrow adaptation, TERPM (Terrain Profile Matching locating algorithm) based on trajectory tracking is proposed. To build up the algorithm, the trajectory positions of the object is calculated using its speed and course information supplied by INS; furthermore, its course deviation is taken into account in calculating the reference depth profile from the base map, and lastly, optimal judgement algorithm used to select the best matching is combined to guarantee its wide adaptation. The experimental results demonstrate that:TERPM algorithm is competent to locate maneuvering UV accurately and the INS course deviation has little influence on the location result; the newly proposed TERPM algorithm can obtain more accurate location with bigger noise comparing to the current modified TERCOM.