According to wikipedia "The onboard guidance software used a Kalman filter to merge new data with past position measurements to produce an optimal position esti

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 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!