Discussion
Which of the following would not reduce the effect of a gyro bias on the attitude solution?
Answer: D
Correct answer: Increasing the attitude output rate
Raising the output rate does nothing about bias. The error is \( bt \), depending only on the size of the bias and the elapsed time, so reporting the same drifting solution more often simply produces more samples of the same error. Update rate matters for following fast motion and for coning compensation, not for a constant offset.
The other three all help. Estimating the bias in the filter removes most of it and keeps tracking it as it changes; using the accelerometers as a long-term reference bounds the accumulated attitude error rather than letting it grow without limit; and selecting a sensor with lower bias attacks the quantity \( b \) at source.
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