That's fascinating, thanks! I knew navigation and control systems would be complex, but when I tried writing my own transfer functions, I got a taste for just how complex it really is. I admire what the USAF was able to do in the pre-integrated circuit era!

I guess I'm not surprised GNSS is so tricky for the final approach. Wide open spaces work great with averaging GPS, but as soon as some bogus data comes in shit goes sideways fast. I just assumed the experts figured that out, but it sounds like not the case if vision-based is the solution at that point.

Cool!