Discussion
An engineer finds that an attitude solution drifts noticeably only when the airframe is subject to sustained high frequency vibration, and is accurate otherwise.
What should be suspected?
Answer: C
Correct answer: Poor coning compensation
The signature is diagnostic: drift appears only under sustained high frequency vibration and is absent otherwise. That is coning - simultaneous oscillation about two axes producing a systematic attitude drift, because finite rotations do not commute and a naive integration cannot recover the true attitude change over a cycle.
The compensation term must be computed at a rate well above the vibration frequencies; if it is inadequate or the loop too slow, the error appears exactly when vibration is present. An accelerometer bias or wrong variation would produce a steady error regardless of vibration, and a failed magnetometer would affect heading only.
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