A real-time compensation system of a projectile includes at least one flight controller, at least one imager device, at least one gyroscope, and at least one processor. The at least one flight controller is configured to rotate the projectile about an axis between a first orientation and a second orientation. The at least one imager device is configured to capture a first image at the first orientation and a second image at the second orientation. The at least one gyroscope is configured to sense a first angular rate of the projectile as the projectile rotates from the first orientation to the second orientation. The at least one processor is configured to determine a first rotation angle based upon the first and second images and a second rotation angle based upon the angular rate sensed by the at least one gyroscope, and determine a gyroscope compensation parameter.

An angular sensor, comprising a Coriolis vibratory gyroscope (CVG) resonator, capable of oscillating along a first pair of normal n=1 modes comprising a first normal mode and a second normal mode; and a second pair of normal n=2 modes comprising a third normal mode and a fourth normal mode; the sensor further comprising one drive electrode and one sense electrode aligned along an anti-nodal axis of each mode; and a pair of bias tune electrodes aligned with an anti-nodal axis of each mode if no drive and sense electrode pair is aligned with said anti-nodal axis.

A real-time compensation system of a projectile includes at least one flight controller, at least one imager device, at least one gyroscope, and at least one processor. The at least one flight controller is configured to rotate the projectile about an axis between a first orientation and a second orientation. The at least one imager device is configured to capture a first image at the first orientation and a second image at the second orientation. The at least one gyroscope is configured to sense a first angular rate of the projectile as the projectile rotates from the first orientation to the second orientation. The at least one processor is configured to determine a first rotation angle based upon the first and second images and a second rotation angle based upon the angular rate sensed by the at least one gyroscope, and determine a gyroscope compensation parameter.

An angular sensor, comprising a Coriolis vibratory gyroscope (CVG) resonator, capable of oscillating along a first pair of normal n=1 modes comprising a first normal mode and a second normal mode; and a second pair of normal n=2 modes comprising a third normal mode and a fourth normal mode; the sensor further comprising one drive electrode and one sense electrode aligned along an anti-nodal axis of each mode; and a pair of bias tune electrodes aligned with an anti-nodal axis of each mode if no drive and sense electrode pair is aligned with said anti-nodal axis.

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.

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.