Real-time compensation of inertial gyroscopes

A method comprising:

• rotating a projectile about an axis from a first orientation to a second orientation using a flight controller;
• capturing a first image at the first orientation using an imager device of the projectile;
• detecting a feature in the first image using a processor;
• capturing a second image at the second orientation using the imager device;
• determining a first rotation angle based upon a relative position of the feature in the first and second images using a processor;
• sensing a first angular rate using at least one gyroscope while the projectile rotates from the first orientation to the second orientation;
• determining a second rotation angle based upon the angular rate sensed by the at least one gyroscope;
• and
• determining a gyroscope compensation parameter for the at least one gyroscope based upon the first and second rotation angle.

A method of in-flight calibration for a projectile comprising:

• rotating the projectile between at least a first orientation and a second orientation about at least one axis;
• capturing a plurality of images of a field of view of an imager device on board the projectile during the rotating including at least a first image taken at the first orientation and a second image taken at the second orientation;
• measuring a measured angle between the first image and the second image;
• monitoring an angular rate of the projectile with at least one gyroscope during the rotating;
• calculating a calculated angle between the first orientation and the second orientation with data monitored by the at least one gyroscope;
• and
• calibrating data monitored by the at least one gyroscope based on differences between the calculated angle and the measured angle.