A few ways:
On visual landings, there are 4 lights next to the runway which are different colors depending on the angle you view them from. They should be two red, two white. Four reds mean you’re too low, and four whites mean you’re too high.
On instrument landings, the instruments tell you too high or two low. This is also based on your angle relative to the runway.
Airport maps will feature local landmarks and instrument radio beacons plus their distance to the runway. If you know your altitude and distance from the runway, you can quickly figure out how many feet per minute you need to descend.
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