HRG has wide application prospects due to its special advantages, but because of the restrictions of the processing technology and research level, the measurement accuracy of HRG remains to be improved to a higher level. Aimed at the static error of HRG, this essay analyzes the influence of accelerate on HRG. The error compensation model is chosen, and the azimuthal orientation of calibration test is designed. The computational formula of error coefficient is derivated. At last, the effectiveness of the calibration compensation is verified experimentally, and the result shows that the system error decreases by one order of magnitude.