The invention provides a self-calibration method of a hybrid type inertial navigation system. The method includes the steps of selecting an error variable and a navigation error equation of the hybrid type inertial navigation system, designing a rotating strategy, powering on and preheating the hybrid type inertial navigation system, controlling a frame to rotate and starting navigation according to the preset strategy after completing rough aligning, recording a navigation error, and conducting optimal estimation on error parameters of hybrid type inertial navigation through Kalman filtering with a speed error and a position error used for measurement, thereby achieving the error self-calibration of hybrid type inertial navigation. The design principle of the self-calibration rotating strategy of the hybrid type inertial navigation system is put forward, it is ensured that all the error parameters can be calibrated, the self-calibration of the error parameters of gyroscopic drift, accelerometer biases, scale coefficient errors, installation error coefficients and the like can be achieved without detaching a machine, the calibration precision can completely meet the requirements of the system, and performance of hybrid type inertial navigation is greatly improved after self-calibration.