The Army desires a field proven way of training non-line-of-sight weapon systems, such as the M109A6 SP Paladin, M119A2 105 mm Towed Howitzer, and MK-19 Grenade Machine Gun, in the live training environment.  The current training system, Multiple Integrated Laser Engagement System (MILES), uses lasers which cannot be used to train non-line-of-sight weapons. Cybernet’s current Inertial Measurement and Magnetometer Module (I3M) is small, low power, and low cost, but does not provide the accuracy requested by the Army (3 milliradians).  For this Phase I SBIR effort we will explore using a dynamic calibration routine that utilizes the spherical relationship between the accelerometers and magnetometers to improve the heading accuracy.  Additionally, we will examine creating virtual sensors from the one data stream and use probability theory to reduce the error of the output data. Our goal is to produce a design for a position orientation sensor which is low power, can be attached to a Soldier’s weapon, and is capable of determining absolute heading.  The development in this project will be used to improve our current I3M product line.