Discussion
Assertion (A): Coning compensation runs at a much higher rate than the attitude output.
Reason (R): Coning arises from oscillation faster than a slow integration could follow.
Select the correct answer from the options below.
Answer: C
Correct answer: Both A and R are true, and R is the correct explanation of A
Both statements are true and the second explains the first. Coning arises when the airframe oscillates about two axes at once, typically at vibration frequencies, and because finite rotations do not commute this produces a systematic drift that a slow integration loop cannot see.
The compensation must therefore be evaluated at a rate well above those frequencies - commonly several hundred hertz or more - even though the attitude output and the filter that blends in the reference sensors need update only tens of times a second. Splitting the computation this way keeps the error-critical inner loop fast and the outer loop cheap.
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