Discussion
Sensor fusion in this context means
Answer: A
Correct answer: Combining sensors so each covers the other's weakness
Sensor fusion here means combining sensors whose error characteristics are complementary. The gyros are accurate over short intervals but drift, while the accelerometers and magnetometer are noisy and disturbed by manoeuvring but have no long-term drift. Blending them gives an attitude solution that is both smooth and bounded.
This is not the same as redundancy, which uses identical sensors so that one can fail. Nor is it equal averaging, which would let each sensor's weakness through undiminished, or selection of a single best sensor, which would discard exactly the information the others uniquely provide.
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