Gyroscope error calibration method based on dynamic compensation

The invention relates to a dynamic compensation-based gyroscope error calibration method, which comprises the following steps of: rotating a high-precision three-axis turntable, simultaneously and sequentially acquiring initial data of X, Y and Z axial gyroscopes in an MIMU (Micro Inertial Measurement Unit), solving a calibration coefficient and a zero offset between the output and the input of the gyroscopes according to the acquired original data, and calibrating the error of the gyroscopes according to the calibration coefficient and the zero offset. The gyroscope is calibrated for the first time through the calibration coefficient, and finally segmented optimization is carried out again on the basis of the first calibration by utilizing a dynamic compensation method, so that the problem that the gyroscope is optimized because the dynamic range of the angular rate is larger can be effectively avoided; the problem that the angular rate of the gyroscope cannot be accurately calibrated through the calibration