A navigational system generates audio cues that are perceived in a three-dimensional space, allowing users to aurally perceive the locations of mapped objects such as landmarks. The audio cues can be produced alone, or in some applications, produced in conjunction with a visual navigational map display to improve the overall efficacy of the system. The audio navigation system includes a positioning system to determine the location of a user, a memory to store hierarchically-organized information about one or more objects, and a processor to render an audio signal based on the hierarchically-organized information. The audio signal is rendered into an audio space corresponding to the user, so as to allow user perception of the location of at least one of the objects relative to the location of the user. The objects may be landmarks in the vicinity of the user.