A vehicle guidance system, including: surface-mounted pressure sensors mounted on a vehicle; an air data estimation controller including: a preprocessor that sets initial values for angle of attack and sideslip angle, determines a converged value for the angle of attack using the initial values and values of one or more first sets of three sensors, each first set of sensors are located among three different planes that are parallel to the ground, and provides a converged sideslip angle value based on the converged value and values of one or more second sets of three sensors, each second set of sensors located among three different planes that are perpendicular to the ground; a processor that estimates air data based on the converged value for the angle of attack and the converged sideslip angle value; and processor that provides an output for adjusting orientation of a vehicle based on the air data.