In order to accurately calibrate the static error model coefficients of three gyroscopes simultaneously, especially the higher-order coefficients, in an inertial measurement unit, an optimal 16-position method is designed. Analysis is conducted using a precision centrifuge with a counter-rotating platform, and coordinate systems are established on centrifuge. Thus, centrifuge error sources, which may affect the calibration accuracy of a gyroscope’s drift coefficients, are analyzed, corresponding to the coordinate systems established. Precise expressions for the input angular rate and the input specific forces on each axis of the three gyroscopes are derived using a homogeneous transformation method. The influence of centrifuge error on the drift coefficients is analyzed, and the calibration accuracy can be improved by compensating for the influence of centrifuge error. The 16-position calibration method is validated through simulation, which establishes that centrifuge errors such as Δθ_y2t, Δθ_y2(−Ωt), Δθ_x2t, Δθ_x2(−Ωt), and ΔΩ mainly influences the bias M_F and first-order drift coefficients M_I and M_S, but has little impact on higher-order coefficients. The calibration process is simple and short time-consuming, and the calibration accuracy is satisfied to requirement. After compensating for the main centrifuge errors, the 16-position method will further increase the accuracy of an inertial navigation system.

为了在惯性测量单元中同时精确地校准三个陀螺仪的静态误差模型系数，尤其是高阶系数，设计了一种最佳的16位方法。使用带有反向旋转平台的精密离心机进行分析，并在离心机上建立坐标系。因此，与建立的坐标系相对应，分析了可能影响陀螺仪漂移系数校准精度的离心误差源。使用齐次变换方法得出三个陀螺仪的每个轴上的输入角速率和输入比力的精确表达式。分析了离心误差对漂移系数的影响，通过补偿离心误差的影响可以提高校准精度。通过模拟验证了16位校准方法的有效性，该方法确定了离心误差（例如Δ）θ _{ÿ 2吨}，Δ θ _{ÿ 2}（-Ωt），Δ θ _{X 2吨}，Δ θ _{X 2}（-Ωt），和Δ Ω主要影响偏压中号_˚F和一阶漂移系数中号_我和中号_小号，但对高阶系数影响不大。标定过程简单，耗时短，标定精度满足要求。在补偿了主要的离心机误差之后，16位方法将进一步提高惯性导航系统的精度。