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Tomahawk cruise missiles originally used terrain following. (1983) Now they have GPS capability but I think terrain following is still an option.

It’s insane to me they had stuff like terrain following working in the early 80’s

A fairly in-depth explanation of one part of the system from a 1994 paper: https://secwww.jhuapl.edu/techdigest/Content/techdigest/pdf/...