A method (400) for calibrating a gyroscope (28) of an oral care device (10) includes the steps of: scheduling (420) a data acquisition scheme comprising a plurality of time points； obtaining (430) sensor data by the gyroscope at each of the plurality of time points； determining (440) whether the oral care device was experiencing motion at any of the plurality of time points and, if so, discarding those time points from further analysis； determining (450) a calibration model using the obtained sensor data； generating (460), based on the obtained sensor data and the determined calibration model, one or more parameters describing a behavior of the gyroscope； and calibrating (470), using the one or more parameters, gyroscope data obtained during a cleaning session.
