ForewordThis document gives recommended practices for gyroscope and accelerometer testing and test data analysis. General and sensor specific equipment and instrumentation are described@ including mounting fixtures@ dividing heads and rotary test tables@ vibration and shock machines@ centrifuges@ radiation test facilities@ and thermal and other environmental chambers. Inertial sensor readouts@ test control@ data acquisition@ filtering@ and analysis are discussed. Analysis procedures include plotting@ least-square polynomial and other fits@ power spectral density and Allan variance noise analysis@ and performance model parameter calibration estimation.This recommended practice represents a consensus of manufacturers and users in industry@ government agencies@ and other interested groups. When necessary@ the needs of the inertial sensor community have been given preference over general technical usage.This recommended practice was prepared by the Gyro and Accelerometer Panel of the Aerospace Electronics System Society of the Institute of Electrical and Electronic Engineers. This document represents a group effort on a large scale. A total of 81 individuals attended 31 meetings of the Gyro and Accelerometer Panel while this standard was in preparation. ScopeRecommended practices for gyroscope and accelerometer testing are discussed@ ranging from the equipment and instrumentation employed to the way that tests are carried out and data are acquired and analyzed.Normative references are given in Clause 2@ and a bibliography is given in Annex A. Test planning is described in Clause 3. General equipment and sensor-specific equipment for testing gyroscopes and accelerometers are described in Clause 4 and Clause 5. Mounting fixtures@ test piers@ accelerometer dividing heads@ and gyroscope rate tables are discussed in Clause 6@ Clause 7@ Clause 8@ and Clause 9. Three-axis tables for inertial sensor assembly (ISA) testing are described in 9.4.Vibration and shock equipment@ centrifuges@ and environmental chambers are described in Clause 10@ Clause 11@ and Clause 12. Nuclear radiation facilities are discussed in Clause 13. Special readout instrumentation required in gyroscope and accelerometer testing is discussed in Clause 14@ Clause 15@ Clause 16@ and Clause 17. Such instrumentation includes counter and frequency readouts@ analog-to-digital (A/D) conversion readouts@ temperature monitoring@ and other monitoring and commanding functions over various types of interfaces and buses.Computer data acquisition@ control@ filtering@ and storage are described in Clause 18. The analysis of test data is discussed in Clause 19. Such analysis includes the plotting of data channels versus time and other data channels@ least-squares fits of polynomials and other models to data@ power spectral density (PSD) and Allan variance noise analysis@ and regression analysis and parameter estimation.Geophysics instrumentation is discussed in Clause 20 because inertial sensors are tested on the earth@ which provides seismic@ tilt@ and other disturbances@ but also provides the fundamental gravity and earth rotation inputs against which sensor parameters (such as scale factor) are calibrated. Therefore@ the acceleration due to gravity at a test site and the site latitude and longitude must be accurately determined.The calibration of test site coordinates and gravity acceleration@ the calibration of test station electrical and other equipment@ and fundamental time and frequency references are discussed in Clause 21.