Guidance, navigation and control for ballistic projectiles

A precision guidance munition assembly for a guided projectile, comprising:

• a canard assembly coupled to the precision guidance munition assembly including at least one canard, wherein the at least one canard is moveable;
• at least one guiding sensor coupled to the precision guidance munition assembly;
• and
• at least one non-transitory computer-readable storage medium carried by the precision guidance munition assembly having a set of instructions encoded thereon that when executed by at least one processor operates to aid in guidance, navigation and control of the guided projectile, wherein the set of instructions comprise:
• receive a first position estimate of the guided projectile;
• determine a first predicted impact point of the guided projectile relative to a target based on the first position estimate;
• determine a first miss distance of the guided projectile relative to the target;
• receive a second position estimate of the guided projectile from the guiding sensor;
• determine a second predicted impact point of the guided projectile relative to the target based on the second position estimate;
• determine a second miss distance of the guided projectile relative to the target;
• determine a smoothed miss distance based, at least in part, on the first determined miss distance and the second determined miss distance;
• and
• process an updated steering command to command the at least one canard on the canard assembly to steer the guided projectile based on the smoothed miss distance.