There are various options, one reasonably simple circuit is this (bias/filter caps and bias voltage circuit not shown for simplicity):
Simulation:
For both graphs the x axis shows the input voltage - top graph is the input voltage itself (not necessary really), and the bottom graph is the output voltage versus the input voltage.
Note that the circuit inverts the signal, so 1.8V = 7V in and 0V = 16V in, but this is easily dealt with in a micro.
The circuit divides by 5 and shifts so the 1.8V span is between 0 and 1.8V. To learn how to calculate and design such circuits, OpAmps for Everyone is a good free book to start with.
Plenty of things have multiple batteries.
Some hybrid cars have their traction battery pack and a "standard" 12v battery for the normal vehicle systems, including starting/charging the internal combustion engine.
High reliability UPS systems (telecomms/data centre/any critical service) may have multiple battery arrays, typical installs I've seen they have 3 of everything (so 3 identical sets of UPS + battery array + control + monitoring) of which any two can handle the full load if one of the three dies - and usually a backup generator, for large loads they do the same again and have 3 generators, any two of which meet the required capacity.
That said I've seen those things chained in far larger numbers; A suite of maybe 10+ racks of triple-redundant UPS+battery etc., so each rack is its own self-contained 2-of-3 redundant UPS and the 10+ racks share the load with a redundancy of maybe 20%. Sounds like overkill but plugging in multiple duplicate UPS racks is an easier build and scales easily. Likewise, 3 big-ass generators side-by-side are easier to install than one supertanker-size one.
Also, the telco I worked for there were backups to the backups - the UPS's to catch blips in the power / hold things up while the generator comes online, the generator for short to medium outages (usually fuelled for a week or so continuous running, location dependent), and remote monitoring that dispatched a power guy ASAP who could also bring in a mobile generator, additional fuel bowsers, etc, etc... gotta love a system built during the cold war to be nuke-proof!
The point in critical/high-reliability/disaster-proof systems is redundancy, no single-point-of-failure, preferably modularity too. Aside from the backup generators, which tend to live in one special room, generally the UPS's are separated - either per rack / suite of equipment, per floor, per supply or whatever so if one bit of kit goes bang it doesn't bring the whole place down with it.
Emergency vehicles (or overlanders, campers, etc.) have twin or triple battery systems, usually one to take care of the starting & running and one or more to power the "living" systems, with the "emergency" option to use the "living" battery to jump-start the "main" one.
Some vehicles have 12v and 24v systems and rather than do the bodge of pulling 12v from one half of a 24v pack (recipe for problems) they add a secondary 12v battery (and sometimes an extra 12v alternator).
There are also more subtle examples: Many devices that keep time have a real time clock (RTC) chip which will have either a small supercap or watch-battery to power it independently of the main system power, be it mains/wired or battery (EG laptop, digital camera) you'll find you can unplug the device & remove its battery and when you reconnect it it will still remember the correct time. The RTC battery has very different properties to the main system battery - often they are not designed to be replaced, only supply a tiny current (microamps) at a low voltage to keep the RTC oscillator ticking over.
Edited to add: I found some photos of the aforementioned multiple-battery setups:
Both setups are floating at -48v, the copper & blue bars are busbars.
Best Answer
There is no simple answer.. Take a computer system with a 500W PSU. The sum of all parts may be capable of dissipating 1000W but utilization due to usage may only be 100W on the average. The best way is to plan for more capacity and then cost reduce later after testing it.
It is much more complicated than your suggestion. Current drawn depends on voltage, temperature . For sure you can estimate the nominal load current ought to be less than worst case load current. Unless you know something about the load curent vs voltage and determine what the Power Fail threshold when your system should shut down safely, otherwise you can let it stop in unreliable ways.
So you have no favourable measure of accuracy of predicting the operating time without experience or schematic and description to someone who understands.
We also have no idea what your design is and if you have any power fail circuit detection like the low voltage detection built into MOBO's
Sorry without more there is no simple answer to a software expert. It would be like a hardware guy telling howe many lines of unique code gets executed per minute. You could look at all the code and features and multiply by some magic utilization ratios. But the chance of it being accurate is inversely proportion to its complexity... Most like all you have to deal with is the power consumption of the top 3 items like the motors. But the the backup time is limited by the weakest link and we do not know if your power backup is balanced for each subsystem of batteries.