Control system for controlling a projectile

A projectile comprising:

• a receiver arranged to receive a plurality of electromagnetic waves transmitted from a plurality of corresponding transmitters, the plurality of electromagnetic waves including a corresponding electromagnetic wave or another electromagnetic wave transmitted by at least one of the plurality of transmitters that includes a transmission position of the at least one of the plurality of transmitters;
• and
• a controller arranged to
• extract the transmission position of the at least one of the plurality of transmitters from the received corresponding electromagnetic wave or the received another electromagnetic wave,
• determine at least one of a position, a velocity, and/or an acceleration of the projectile based on respective transmission positions of the plurality of transmitters and Doppler measurements derived from the received plurality of electromagnetic waves, and
• generate a control signal for performing an action with the projectile depending on the determined at least one of position, velocity, and/or acceleration of the projectile.

A method of controlling a projectile, the method comprising:

• at each transmitter of a plurality of transmitters, transmitting an electromagnetic wave from a corresponding transmission position, wherein at least one of the plurality of transmitters transmits its own transmission position to the projectile either in the corresponding transmitted electromagnetic wave or by transmitting another electromagnetic wave;
• and
• at the projectile,
• receiving a plurality of electromagnetic waves transmitted from the plurality of transmitters, the plurality of waves including the corresponding electromagnetic wave or another electromagnetic wave transmitted by the at least one of the plurality of transmitters,
• extracting the transmission position of the at least one of the plurality of transmitters from the received corresponding electromagnetic wave or the received another electromagnetic wave,
• determining at least one of a position, a velocity, and/or an acceleration of the projectile based on respective transmission positions of the plurality of transmitters and Doppler measurements derived from the received plurality of electromagnetic waves, and
• generating a control signal for performing an action with the projectile depending on the determined at least one of position, velocity, and/or acceleration of the projectile.