The entire calibration and compensation method of a Miniature Inerial Measurement Unit(MIMU) in high dynamic and overload complicate environments was proposed.Firstly, an error model applied to the complicate application environments was established, which consists of the structure errors, installation misalignment errors and the errors of the MEMS sensors including zero output drift, temperature drift, cross-axis error, nonlinear scale factor error and acceleration effect error of gyroscope. Based on the model, the entire calibration and compensation method was proposed to calibrate 63 error coefficients without calibration of each MEMS inertial sensor separately. Then, the generalized least square algorithm was used to calibrate and calculate the error coefficients. Finally, a MIMU was developed for a flight experiment and was calibrated with this proposed method. Experimental results indicate that the positioning accuracy is improved by 1 order of magnitude. It can satisfy the high dynamic and overload requirements of the MIMU.