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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...

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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!

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