Discussion
Which of the following is not produced by an attitude and heading reference system?
Position
Pitch
Roll
Heading
Answer: A
Correct answer: Position
An attitude and heading reference system produces attitude - pitch and roll - and heading. It does not produce position; that is the distinguishing feature between it and an inertial navigation system.
The reason is error growth. Attitude requires integrating angular rate once and is held bounded by the gravity and magnetic references, whereas position requires integrating specific force twice, so an accelerometer bias produces error growing as \( t^2 \) with nothing available to bound it. A bias of \( 0.001\ \mathrm{m/s^2} \) gives \( 1.8 \) m in a minute and hundreds of metres in an hour, which is why navigation-grade sensors and an external position fix are needed for that job.
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