AHRS initialization takes approximately how much time in MAG, and how much time in DG respectively?

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Multiple Choice

AHRS initialization takes approximately how much time in MAG, and how much time in DG respectively?

Explanation:
AHRS initialization involves a quick magnetometer calibration to establish a heading reference, followed by a much longer alignment of the directional gyros to lock onto a stable attitude reference. The magnetometer step is relatively fast, about 70 seconds. The directional gyro alignment, however, requires more time to spin up and settle, typically around 10 minutes in this system. That combination—about 70 seconds for MAG and about 10 minutes for DG—reflects why this option is the best fit. The other timings would imply either an unreasonably short gyro alignment or an awkward mismatch between MAG and DG initialization durations.

AHRS initialization involves a quick magnetometer calibration to establish a heading reference, followed by a much longer alignment of the directional gyros to lock onto a stable attitude reference. The magnetometer step is relatively fast, about 70 seconds. The directional gyro alignment, however, requires more time to spin up and settle, typically around 10 minutes in this system. That combination—about 70 seconds for MAG and about 10 minutes for DG—reflects why this option is the best fit. The other timings would imply either an unreasonably short gyro alignment or an awkward mismatch between MAG and DG initialization durations.

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