Aiming at the problem that the accuracy of gyro measurement in microinertia continuous inclinometer is affected by the noise interference, installation error and zero drift, a calibration method of gyro error based on Kalman filter is put forward in this paper. Taking the micro quartz vibratory gyroscope as the research object, the original measurement value of the gyroscope is filtered by Kalman filter. The relationship between the zero drift and the temperature variation of the gyro is analyzed. Combining with the existing error calibration model, an improved gyro error calibration model in the full temperature range is obtained. The experimental results show that the accuracy of the proposed gyro calibration model is increased by about 1 to 2 orders of magnitude compared with the convention calibration model. The feasibility of the calibration method is verified, and it is of great significance for engineering applications.