Discussion
Gyro bias is
Answer: D
Correct answer: A non-zero stationary output
Gyro bias is the output the sensor reports when it is not rotating - a constant, or slowly varying, offset. Because attitude is obtained by integrating rate, a bias integrates into an attitude error that grows linearly with time: a bias of \( 0.01 \) degrees per second gives \( 3 \) degrees after five minutes.
It is distinct from random noise, which integrates to the square-root-of-time growth called angle random walk; from scale factor error, which is proportional to the rate being measured and so appears only during motion; and from response delay, which is a dynamic rather than a static error.
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