This　article　proposes　a　new　method　for　calibrating　nonlinear　errors　of　pendulous　integrating　gyro　accelerometer　(PIGA)　on　the　precision　centrifuge　with　a　counter-rotating　platform,　which　can　provide　both　constant　and　harmonic　input　accelerations.　First,　by　analyzing　the　working　principle　and　error　sources　of　the　centrifuge,　corresponding　coordinate　systems　are　established.　With　the　homogeneous　transformation　method,　the　precise　input　accelerations　and　angular　velocities　of　PIGA　in　the　centrifuge　test　are　derived,　and　the　error　calibration　models　are　established.　Then,　the　sequential　calibration　method　is　designed　by　combining　the　symmetrical　position　test　with　a　synchronous　counter-rotating　test.　This　sequential　method　has　the　advantage　of　installing　PIGA　on　the　centrifuge　only　once.　Not　only　the　nonlinear　error　coefficients　are　identified　but　also　the　centrifuge　errors,　the　misalignments　of　PIGA　with　the　centrifuge,　and　the　installation　errors　of　PIGA　on　the　centrifuge　are　effectively　suppressed　simultaneously.　Experiments　are　presented　and　discussed　to　illustrate　the　effectiveness　of　the　proposed　method.