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

An projectile or vehicle round with a guidance measurement and control system comprising:

• at least one electronics board mounted interiorly to the projectile or vehicle round, the electronics board comprising an upper surface, a lower surface and a plurality of inertial measurement units (IMUs) mounted on at least one of the surfaces, each IMU having a signal and comprising at least one three-axis accelerometer and/or at least one three-axis gyroscope, the IMUs adapted to be interconnected at least via firmware;
• at least one processor adapted to receive the signal from each IMU;
• 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. Correct the sensor signals, or apply a correction factor to the sensor signals, based on the calculated bias and drift, and
• 4. Provide a guidance metric representative of an absolute or relative location of the projectile or vehicle based on the signals and/or corrected signals of each of the IMUs;
• a handshake algorithm comprised in the processor, the handshake algorithm adapted to select one or more of the plurality of IMUs based on the projectile's or vehicles spin rate or acceleration;
• and
• an actuator adapted to adjust a control system to adjust a course of the projectile or vehicle based at least in part on the guidance metric.