the easier it will be in the air. IFR planning Instrument flight rules (IFR) navigation is similar to visual flight rules (VFR) flight planning except that the task is generally made simpler by the use of special charts that show IFR routes from beacon to beacon with the lowest safe altitude (LSALT), bearings (in both directions), and distance marked for each route. IFR pilots may fly on other routes but they then must perform all such calculations themselves; the LSALT calculation is the most difficult. The pilot then needs to look at the weather and minimum specifications for landing at the destination airport and the alternate requirements. Pilots must also comply with all the rules including their legal ability to use a particular instrument approach depending on how recently they last performed one. In recent years, strict beacon-to-beacon flight paths have started to be replaced by routes derived through performance-based navigation (PBN) techniques. When operators develop flight plans for their aircraft, the PBN approach encourages them to assess the overall accuracy, integrity, availability, continuity, and functionality of the aggregate navigation aids present within the applicable airspace. Once these determinations have been made, the operator develops a route that is the most time and fuel efficient while respecting all applicable safety concerns—thereby maximizing both the aircraft's and the airspace's overall performance capabilities. Under the PBN approach, technologies evolve over time (e.g., ground beacons become satellite beacons) without requiring the underlying aircraft operation to be recalculated. Also, navigation specifications used to assess the sensors and equipment that are available in an airspace can be cataloged and shared to inform equipment upgrade decisions and the ongoing harmonization of the world's various air navigation systems. In flight Once in flight, the pilot must take pains to stick to plan, otherwise getting lost is all too easy. This is especially true if flying in the dark or over featureless terrain. This means that the pilot must stick to the calculated headings, heights and speeds as accurately as possible, unless flying under visual flight rules. The visual pilot must regularly compare the ground with the map, (pilotage) to ensure that the track is being followed although adjustments are generally calculated and planned. Usually, the pilot will fly for some time as planned to a point where features on the ground are easily recognised. If the wind is different from that expected, the pilot must adjust heading