The nonlinear error of MEMS gyro is one of the main factors influencing its measure precision. For the problem that the existing angular rate calibration method is difficult to obtain the continuous output of gyro, an implementation calibrating method based on the angular acceleration technique is proposed in this paper. The secondary calibration method is presented to calculating the zero error coefficient, the scale factor, the cross coupling coefficient and the nonlinear error term of gyroscope. Compared with conventional compensation model, the proposed method can calibrate the error parameters of the gyro quickly. The absolute error is less than 0.084 (°)/s and the linearity is increased by 1~2 magnitudes after compensating.