Measurement error of MEMS gyroscope is an important factor to influence precision of micro-inertial navigation system（ INS）. In order to improve the precision of INS

a calibration method for MEMS gyroscope using three-axis turntable is proposed. A calibration experiment schemes and error model parameters identification method is designed based on error model of MEMS gyroscope. Meanwhile

the procedures for de-noising output data of gyroscope through wavelet threshold de-noising method are also presented. Correctness and effectiveness of the calibration method are validated by experiments and simulation. Results show that measurement precision of MEMS gyroscope is improved by 1

2 magnitudes.