Are you asking about a speciic gyro model provided in Matlab or is this a general question?
In either case, the input to the the model should be the angular velocity vector relative to an inertial reference frame. The model wil have to speficy the coordinate frame in which the vector should be resolved. Tyipcailly, that would be a coordinate frame fixed to the device itself. If it's some other cooridinate frame, you'll probably have to also provide a parameterization of the oriientation between the inertial reference frame and a coordinate frame fixed to the device. The output of the model would typically be a measurement of the angular velocity vector relative to an inertial reference and resolved in a coordinate frame fixed to the device. The measurement will inlude lags, measuremnet error, misalignments, etc. depending on the fidelity of the model.
