Calibration of gyro error model coefficients on precision centrifuge with counter-rotating platform

In order to accurately calibrate the gyro drift coefficients, a coordinate system was set up based on the precision centrifuge with counter-rotating platform, and the attitude relationship between two adjacent coordinate systems were analyzed in consideration of the error sources. Precise angular velocity input for each axis of gyro was derived by using direction cosine matrices, and the nominal value of each specific force input was given as well. Combined with the gyro's static error model, various harmonic amplitude expressions were deduced including gyro drift coefficients. By using centrifuge to provide two different harmonic accelerations, and sampling the output of gyro at each sampling time, the amplitudes of 0-2nd harmonics were obtained through Fourier analysis. The drift coefficients were identified by least square method based on the relationship between harmonic amplitude expressions and drift coefficients. The test simulation results show that the calibration of the gyro drift coefficients on centrifuge with counter-rotating platform can effectively avoid some of the centrifuge errors, and other centrifuge errors only have significant impacts on D_I, D_S, D_IO and D_OS whose accurate calibration can be achieved by compensating the centrifuge errors.