Discussion
The rate gyro triad measures
Answer: D
Correct answer: Angular rate about three orthogonal axes
A rate gyro measures angular rate - degrees or radians per second - about its input axis, and three mounted orthogonally give the angular velocity vector in body axes. Attitude is then obtained by integrating that vector, which is what the strapdown attitude algorithm does.
Angular displacement is not measured directly; it is the integral, and this is precisely why gyro errors accumulate. A constant bias integrates into an attitude error growing linearly with time, which is what the accelerometer and magnetometer references exist to bound.
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