Inflight observability of gyro reference frame misalignment

The effect of gyro misalignment on the attitude knowledge error (AKE) in a strapdown environment is analyzed. The subject attitude knowledge is defined, and the equation of motion is derived considering only the initial AKE and the misalignment. These two error sources are shown to be different. The closed-form solution to the equation of motion is presented, and an important theorem concerning the error induced by the initial AKE and misalignment is proven. The observability of misalignment in an ideal update environment where three cases of AKE can be measured simultaneously is examined. The misalignment observability in an infinitesimal field of view line of sight sensor update design is discussed. It is concluded that attitude error in a strapdown gyro application due to gyro misalignment is a conservative function of the attitude only.