Apollo experience report: Onboard navigational and alignment software

The onboard navigational and alignment routines used during the nonthrusting phases of an Apollo mission are discussed as to their limitations, and alternate approaches that have more desirable capabilities are presented. A more efficient procedure for solving Kepler's equation, which is used in the calculation of Kepler's problem and Lambert's problem is included, and a sixth-order predictor scheme with a Runge-Kutta starter is recommended for numerical integration. The extension of the rendezvous navigation state to include angle biases and the use of a fixed coordinate system is also evaluated.