System and method for measuring force-dependent gyroscopic sensitivity. A
force-effect model of the effects of acceleration on the output of a gyro triad
is determined. Rotation sequences are then devised to permit excitation and observation
of force-effect model parameters in order to provide calibration information for
these parameters. A state diagram containing the gyro triad force-effect model
parameters is derived from the force-effect model, where moving from one position
in the state diagram to another position indicates the gyro triad error which would
occur in rotating the gyro triad according to a corresponding motion. Searching
for all possible closed loop paths achievable through the state diagram, by a multiple-axes
rate table with a specified number of rotations, to separate gyro triad error calibration
from the accelerometer calibration. Closed loop paths having minimal lengths and
exhibiting larger error sensitivity are chosen to perform error parameter calibration
and reduce force-dependent gyroscopic sensitivity.
