Method and apparatus for simulating a rotation rate and use of simulated rotation rate for the initial calibration of gyro sensors or the in-service re-calibration of gyroscopes

An apparatus for simulating a rate of rotation that acts on a yaw rate sensor, the angular rate sensor includes a vibrating means (100), a primary excitation means (106) for driving said oscillating means (100) to a primary movement (102), a secondary detector (108) for outputting an output signal, the movement of a secondary (104) of the oscillating means and the same of a rate of rotation of the rotation rate sensor about a sensitive axis depends, having the following features: means (24) for providing a value of a first compensation signal (12a) and a value of a second compensation signal (12b), wherein the values ​​of the first and second compensation signal are selected so that a deflection of the oscillation means in response to a first acceleration in the direction of primary motion is compensated, and that a deflection of the oscillation means in response to a second acceleration in the direction of the secondary movement (104) is compensated, and for providing response information (22) of the oscillating device (100) due to excitation by the primary excitation means (106); and (109) means (20) for generating and applying a simulation signal to ...