Discussion
An attitude and heading reference system can align while the aircraft taxis. Is this correct?
Answer: A
Correct answer: No, movement corrupts levelling
Alignment cannot be performed while taxiing. Levelling determines initial pitch and roll by assuming the only specific force present is the reaction to gravity; any acceleration adds to that vector and tilts it, so the computed attitude is wrong. Even a slow taxi involves accelerations, turns and bumps large enough to matter.
The same objection applies to the initial bias estimates, which assume the true rates are zero. The gyros cannot compensate, since they are themselves being calibrated. Magnetic interference is a separate concern and not the reason.
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