Discussion
Which of the following is not an output of an attitude and heading reference system?
Answer: B
Correct answer: Position
Position is not an output. The system computes pitch, roll and heading, and stops there - which is exactly what distinguishes it from an inertial navigation system.
The boundary is set by error growth. Attitude requires integrating angular rate once and is bounded by the gravity and magnetic references, so ordinary sensors suffice. Position would require integrating specific force twice, so an accelerometer bias would give an error growing as \( t^2 \) - about \( 6.5 \) km in an hour for a bias of only \( 0.001\ \mathrm{m/s^2} \) - with nothing available to hold it in check.
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