Discussion
Consider the following error and growth law pairs:
Gyro bias - Attitude error growing linearly with time
Angle random walk - Error growing with the square root of time
Accelerometer bias in navigation - Position error growing with the square of time
Scale factor error - Error independent of the motion
How many of the pairs given above are correctly matched?
Answer: A
Correct answer: Only three
Three pairs are right. Gyro bias gives attitude error growing linearly with time; angle random walk gives error growing as the square root of time; and an accelerometer bias in a navigation solution gives position error growing with the square of time, since it is integrated twice.
The fourth is wrong. A scale factor error is an error in the sensor's gain, so its effect is proportional to the motion being measured: it vanishes when the aircraft is still and is largest in a fast roll. Independence from the motion describes bias, not scale factor.
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