Comment by Arjuna
12 years ago
Check this out... here are the two source code pages (digitized from original printouts) for the Kalman filter, dated July 14, 1969!
KALMAN FILTER USER'S PAGE NO. 1
http://www.ibiblio.org/apollo/ScansForConversion/Luminary099...
KALMAN FILTER USER'S PAGE NO. 2
http://www.ibiblio.org/apollo/ScansForConversion/Luminary099...
According to wikipedia "The onboard guidance software used a Kalman filter to merge new data with past position measurements to produce an optimal position estimate for the spacecraft." https://en.wikipedia.org/wiki/Apollo_PGNCS
In turn the main source of navigation information came from mission control using least squares. A source on that would be nice too!