Marine sensors normally work in complex magnetic field environment

and its posture detection system usually use gyroscope to determine yaw angle output. Aiming at short-term deployment ocean sensor

analyze model of yaw angle drift error of MEMS gyroscope. On the basis of compensating original data of gyroscope

a method for fitting estimation value and compensation method of random drift is given to improve precision of yaw angle output of gyro in certain period of time. Use high precision platform for test and result verifies effectiveness of the compensation and calibration method.