Gyro zero offset calibration value determination method and device and computer storage medium

The invention discloses a gyro zero offset calibration value determination method and device and a computer storage medium. The method comprises the steps that calculation is carried out to obtain anattitude matrix of an inertial measurement coordinate system and a geographic coordinate system according to the external azimuth reference of an inertial measurement unit and the non-levelness information of the inertial measurement unit; the earth rotating speed is decomposed to each sensitive shaft according to the attitude matrix to obtain an earth rotating speed component of each sensitive shaft of the inertial measurement unit; and a gyro zero offset calibration value is determined according to the earth rotating speed component of the sensitive shafts and the actual output amount of each shaft of the inertial measurement unit. The scheme is adopted, no extra operation is added, and the method has the advantage of being high in calibration precision. 陀螺零偏标定值确定方法、装置及计算机存储介质，包括：根据惯组外部方位基准以及惯组自身的不水平度信息，计算得到惯组测量