A system and method to aid in guidance, navigation and control of a guided projectile including a precision guidance munition assembly. The system and method receive position estimates of the guided projectile from a guiding sensor, determine predicted impact points of the guided projectile relative to a target based on the position estimates, determine miss distances of the guided projectile relative to the target, determine smoothed miss distances based, at least in part, on the determined miss distances, and process updated steering commands to steer the guided projectile based on the smoothed miss distances.