Multi-IMU guidance measurement and control system with handshake capability to refine guidance control in response to changing conditions

A guidance measurement and control system for projectiles, munitions, or rounds released, fired, or deployed from a vehicle or weapons system comprising:

• at least one projectile, munition, or round adapted to be released, fired, or deployed from a vehicle or weapons system, the at least one projectile, munition, or round comprising:
• 1. at least one electronics board, the electronics board comprising an upper surface, and a lower surface,
• 2. a plurality of inertial measurement units (IMUs) mounted on at least one of the surfaces of the at least one electronics board, each IMU having a signal measuring at least spin rate, pitch, and roll of the projectile, munition, or round, the IMUs adapted to be interconnected at least via firmware, the IMUs electrically separated into at least two separate groups, at least one group adapted to have a high dynamic range of measurement with lower resolution and at least one group adapted to have a low dynamic range of measurement with higher resolution,
• 3. at least one control system adapted to adjust a course of the projectile, munition, or round, and
• 4. at least one actuator adapted to adjust the at least one control system to adjust a course of the projectile, munition, or round;
• a processor adapted to receive the signal from each IMU;
• and
• a guidance algorithm comprised in the processor, the guidance algorithm adapted to:
• 1. synchronize the signals from each of the IMUs,
• 2. calculate a bias and a drift in the signal of each IMU,
• 3. provide a guidance metric representative of an absolute or relative location of the projectile, munition, or round based on the signals of each of the IMUs, and
• 4. provide guidance commands to the at least one actuator to adjust the at least one control system to maneuver the projectile, munition, or round along an adjusted course,
• wherein the guidance commands are based at least in part on the measured spin rate, pitch, and roll of the projectile, munition, or round, and also in part on the calculated bias and drift and the guidance metric.