A vision-based navigation method that does not depend on GPS signal for landing AAM aircraft. The Vision-Based Approach and Landing System (VALS) uses images captured from a camera for Advanced Air Mobility (AAM) approach and landing in GPS-denied environments, which offers a potential Alternative Position, Navigation, and Timing (APNT) solution. VALS utilizes a computer vision algorithm called Coplanar Pose from Orthography and Scaling with Iterations (COPOSIT) to estimate the position and orientation of the camera based on coplanar features. VALS also includes an extended Kalman filter that uses IMU measurements in a prediction step and the COPOSIT estimation results in a correction element. Combining IMU with vision creates a sensor fusion navigation solution for GPS-denied environments.