The US has had (for several decades) guided artillery shells, both optical and inertially guided. These get launched from battleship cannons and deploy fins to

The US has had (for several decades) guided artillery shells, both optical and inertially guided. These get launched from battleship cannons and deploy fins to guide them to the target. The inertial guidance is almost more surprising, it means the IMU can not only survive being launched, but has enough sensitivity to double integrate accurately through both the launch and free fall.