Discussion
Assertion (A): An attitude and heading reference system stops short of computing position.
Reason (R): Accelerometer bias is integrated twice, so position error grows with the square of time.
Select the correct answer from the options below.
Answer: B
Correct answer: Both A and R are true, and R is the correct explanation of A
Both statements are true and the reason explains the assertion. The system stops short of position precisely because obtaining it would require integrating specific force twice, so an accelerometer bias produces a position error growing as \( \tfrac{1}{2}bt^2 \).
Nothing available to the unit can bound that growth: gravity bounds attitude, and the magnetic field bounds heading, but there is no comparable reference for position. An inertial navigation system attacks the same problem with navigation-grade sensors and an external aiding source, which is what makes position tractable there and not here.
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