To satisfy the demand for the long-term stable operation requirements of airborne micro-electro-mechanical systems (MEMS) Strapdown inertial navigation systems (SINS) for small unmanned equipment such as unmanned aerial vehicle (UAV), and to address the problem that the errors of MEMS inertial navigation systems (INS) tend to diverges over time in satellite rejection environments, making it difficult for UAV to maintain long-endurance autonomous high-precision navigation, A method for dynamic calibration of UAV MEMS SINS using on-board MEMS dual-axis rotating inertial navigation systems (RINS) during movement of the UAV loading vehicle is proposed. Firstly, based on the MEMS inertial measurement unit (IMU) of the same model, the UAV MEMS SINS and MEMS dual-axis RINS are respectively constructed. By analyzing the error mechanism of the RINS and the design principles of the rotation scheme, a dual-axis eighteen-position rotation modulation scheme is proposed. And this rotation method is used to dynamically calibrate the MEMS IMU in the MEMS dual-axis RINS during vehicle movement. Then the calibration results are used to compensate for the zero bias, scale factor error and installation error of the MEMS SINS on the UAV. While effectively ensuring the rapid deployment capability of the UAV equipment, it can also fully improve the performance of the MEMS SINS of the UAV.