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Gyro is an important sensitive unit in pose rail control subsystem on small satellite platforms. And gyro simulator is a necessary equipment to simulate star sensor data and timing relationships on ground test for pose rail control subsystem on a small satellite platform. According to actual requirements, this work designed a gyro simulator based on FPGA and CAN bus interface. FPGA is adopted as the master control chip, as a result, the universal types of data communication protocols are provided, including CAN bus, and RS-485 bus and RS-422 bus. An actual case study with a specific configuration for an application situation, the test and verification shows that the design of gyro simulator can achieve high reliability and good generality. 