A new application of PDAF (probabilistic data association filter) for improving the accuracy of autonomous strapdown inertial navigation systems (SINS) is presented. The proposed method is a terrain-aided navigation (TAN) algorithm based on landmark detection combined with a classical SINS. It is shown via a set of simulations that the method can improve significantly the precision of autonomous navigation if the landmark spatial density and quality of landmark detectors are good enough. This new concept of navigation called PDANF (probabilistic data association navigation filter) can be integrated with a relatively low cost in existing operational TAN systems.