An inertial measurement system for a longitudinal projectile comprising: a first, roll gyro to be oriented substantially parallel to the longitudinal axis of the projectile; a second gyro and a third gyro with axes arranged with respect to the roll gyro such that they define a three dimensional coordinate system; a controller, arranged to: compute a current projectile attitude from the outputs of the first, second and third gyros, the computed attitude comprising a roll angle, a pitch angle and a yaw angle; compare the computed pitch and yaw angles with expected values for the pitch and yaw angles; calculate a roll angle error and a roll scale factor error based on the difference between the computed pitch and yaw angles and the expected pitch and yaw angles; and apply the calculated roll angle error and roll scale factor error to the output of the roll gyro.

A method for planning and launching two or more missiles, to be included in the same mission, and where this is done from one or more aircraft in such a way that the missiles arrive at same target approximately at the same time without interfering with each other on the way to the target. The planning of the mission is performed by sending a set of identical mission data to the missiles prior to launch; letting each missile be assigned a unique identity, letting each missile calculate identical trajectories and a unique offset to this, in one or more of four dimensions, where a resulting offset trajectory is unique for each missile and based on the identical mission data and unique identity, and launching the missiles included in the same mission.

A method and apparatus are presented for guiding a store, represented by a dynamic system having transitory nonlinear characteristics, between release from a platform and an activation of a mission autopilot along an optimal path. A nominal reference trajectory is determined that optimizes a desired performance index for the dynamic system using optimal control theory. A feedback control system is implemented that optimizes an original performance index to second order in a presence of disturbances along the optimal path using neighboring optimal control. The feedback control system converges to a linear time invariant regulator approaching the desired operating condition along the optimal path. Finally, control of the store is transitioned to the mission autopilot.

Disclosed is A Global Positioning System (GPS) independent navigation system (GINS) for a self-guided aerial vehicle (SAV). The SAV has a housing, where the housing has an outer surface, a length, a front-end, and a longitudinal axis along the length of the housing. The GINS may include a first optical sensor, second optical sensor, storage unit, and comparator.

An inertial measurement system for a longitudinal projectile comprising: a first, roll gyro to be oriented substantially parallel to the longitudinal axis of the projectile; a second gyro and a third gyro with axes arranged with respect to the roll gyro such that they define a three dimensional coordinate system; a controller, arranged to: compute a current projectile attitude from the outputs of the first, second and third gyros, the computed attitude comprising a roll angle, a pitch angle and a yaw angle; compare the computed pitch and yaw angles with expected values for the pitch and yaw angles; calculate a roll angle error and a roll scale factor error based on the difference between the computed pitch and yaw angles and the expected pitch and yaw angles; and apply the calculated roll angle error and roll scale factor error to the output of the roll gyro.

A method for the inertial navigation of a projectile equipped with a mediocre-quality inertial init that is fired from a carrier equipped with a precision inertial unit includes, before firing the projectile, the biases of the accelerometers and of the gyrometers of the inertial unit of the projectile are determined using the inertial unit of the carrier. During the inertial navigation of the projectile, the measurements of the accelermeters and of the gyrometers output by the inertial unit of the projectile are corrected by the biases determined before launching.