Discussion
Arrange these events as a gyro bias corrupts an unaided attitude solution:
1. A small constant bias exists on one gyro
2. Integration accumulates the bias into an attitude error
3. The error grows linearly with elapsed time
4. The accelerometer reference disagrees with the computed attitude
5. The filter corrects the attitude and revises the bias estimate
Select the correct sequence.
Answer: B
Correct answer: 1, 2, 3, 4, 5
The chain runs from cause to correction. A small constant bias exists on one gyro (1); the attitude algorithm integrates the rate, so the bias accumulates into an attitude error (2), which grows linearly with elapsed time (3) because the offset is constant.
Eventually the error is large enough that the accelerometer-derived vertical disagrees with the computed attitude (4), and the filter uses that residual both to correct the attitude and to revise its estimate of the bias (5). The last step is what distinguishes a Kalman filter from a fixed blend: it does not merely mask the symptom, it learns the cause.
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