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Gyro drift has a direct impact on the navigation and positioning error of strapdown inertial navigation system, so it is necessary to calibrate the gyro drift with the experimental method. The gyro drift changes with time and environment, and the accuracy of the system can be reduced if the laboratory calibration method is used. This paper proposes a field calibration method based on Kalman filtering technique. State equation of calibration system is given directly, two measurement equations using velocity alone and velocity + attitude for the observation information are derived respectively. Singular value method is used to compute observability degree of gyro drift with different mobile states and different observation information of five field calibration schemes. Two optimal field calibration schemes that the carrier is in the “S” maneuver in case of using velocity for the observation information and the carrier is static in case of using velocity and attitude for the observation information are determined. Moreover, simulation experiments are implemented to verify the two schemes based on the field calibration method can effectively improve calibration accuracy.