Mission, vision, strategy, doctrine

You don't achieve a vision; you achieve a mission.  You aim toward a vision.  You don't achieve a strategy; you apply a strategy to aim toward a vision to achieve a mission.

A mission defines what success is and therefore the scope of the endeavour.  It does not define how that success should be achieved.

A vision has to be something that creates a concrete image in people's minds.  Otherwise, it's obviously not a vision.  The concrete image clarifies what we believe mission success looks like.  A"vision statement" that creates no images is more likely to be a mission statement.

It may not be necessary to worry too much about separating vision and mission.  You really just need something that defines what you're aiming towards.  The rest is strategy, tactics, and adaptation.

Underlying it all are your fundamental assumptions and beliefs about how the world works, otherwise known as doctrine or culture.