Aiming at the problems of complicated calibration method, long calibration period and complicated calibration equipment of the conventional MIMU, a method quickly calibrating MIMU by controlling a small three-axis turntable by LABVIEW host computer is designed in this paper. First, the MIMU calibration model established, the by constructing the Kalman filters of the gyroscope and accelerometer separately to reduce the amount of calculation and calibration time. By taking the attitude and speed of the small three-axis turntable as the reference to obtain the speed error and attitude error as the observation measurement and by controlling the three-axis turntable to rotate according to the designed calibration path through the LABVIEW host computer, collect the MIMU outputs are collected and the 24 error parameters of MIMU are estimated by using the Kalman filter sub-VI (sub-function of LABVIEW). The experimental results show that the method can realize the rapid calibration of the gyroscope and accelerometer in MIMU, and the accuracy of the installation error and constant drift is basically consistent with that of the conventional discrete calibration method, and the relative error of calibration factor is less than 0.006, and the calibration time is reduced from 3 h to 30 min.