Discussion
Match each error mechanism in List I with its growth law in List II.
List I
A. Gyro bias
B. Angle random walk
C. Accelerometer bias in position
D. Scale factor error
List II
1. Linear with time
2. With the square root of time
3. With the square of time
4. With the motion experienced, not with time
Select the correct match.
Answer: C
Correct answer: A-1, B-2, C-3, D-4
Each mechanism is matched to how its error accumulates. Gyro bias (A) integrates once into an attitude error linear with time (1). Angle random walk (B) comes from integrated white noise and grows with the square root of time (2).
An accelerometer bias in a position solution (C) is integrated twice and so grows with the square of time (3). Scale factor error (D) is an error in gain, so it grows with the motion experienced rather than with elapsed time (4) - it vanishes when the aircraft is still and is largest in a fast roll.
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