A method for determining rotation bias in a sensor using a cooperative target that includes receiving, via a processor, sensor data acquired in a field of view of a sensor at a plurality of points in time. The method also includes receiving, via the processor, position data for a cooperative target travelling along a path through the field of view of the sensor at the plurality of points in time. The method also includes determining, via the processor, a rotation bias in the sensor based on a maximum likelihood estimate performed over the path based on the sensor data and the cooperative target position data.