  Gyroscopes are widely used in various field. The instability of the low-cost
gyroscopes makes them need to be calibrated on every boot. To meet the
requirement of frequency calibration, finding an efficient in-field calibration
method is essential. This paper proposes a fast calibration method that does
not require any external equipment. We use the manual rotation angle as a
calibration reference and linearize the calibration model. On the basis of this
model, a G-optimal experimental design scheme is proposed, which can get enough
calibration information with the least number of experiments. The simulations
indicate that the calibration error is relatively low, and the results are
unbiased. We empirically validate the effectiveness of the proposed method on
two commonly used low-cost gyroscope and achieve real-time calibration on a
low-energy microcontroller. We validate the proposed method by comparing the
above method with the conventional turntable method. The experiment result
shows that the error between these two methods is less than $\pm3 \times
10^{-2}$ and the calibration process takes less than 30 seconds. This method
might have a practical implication for low-cost gyroscope calibration.
