Inertial measurement unit prism installation error checking method and device and computer storage medium

The invention discloses an inertial measurement unit prism installation error checking method and device and a computer storage medium. The method comprises the steps of collecting a non-levelness ofan inertial measurement unit when the inertial measurement unit is in a horizontal state, and calculating a horizontal state aiming azimuth angle A0 of the inertial measurement unit; binding the horizontal state aiming azimuth angle A0 of the inertial measurement unit, carrying out attitude tracking on the inertial measurement unit, and erecting the inertial measurement unit within preset time; when the inertial measurement unit is in a vertical state, recording an azimuth angle A1 of inertial measurement unit attitude tracking, and calculating a vertical state aiming azimuth angle A2 of the inertial measurement unit; and checking an installation error of the inertial measurement unit prism according to the azimuth angle A1 of inertial measurement unit attitude tracking and the calculatedvertical state aiming azim