Gyroscope calibration

[Namcrazy]

This is my first time using the gyroscope to measure angular velocity so I don't have much experience in gyro calibration. When using my gyro, I found its error to be quite large. I understand that, due to bias stability, the gyro will not output zero even when it is not moving and its output will also drift over time but although I have tried to choose a gyroscope with a relatively low bias stability, the error is still quite high compared to my expectation. I am thinking that, maybe it measure the angular velocity of Earth as well. So is there any way i can only measure angular velocity relative to the body frame (change configuration mode,...)? Or are there any other effective ways to calibrate the gyro by coding?
Thank you so much!