To improve the measurement accuracy of a cantilever vibration gyroscope in an inertial measurement system, the sensitive structure of the cantilever vibration gyroscope was modified and a measurement system was developed based on the gyroscope. The structural and temperature characteristics of the improved gyroscope were analyzed and the zero drift and linearity were researched in detail. Firstly, the reasons that affect the gyroscope measurement accuracy were analyzed base on the working principle of the cantilever vibration gyroscope. According to the insignificance of the piezoelectric film coupling structure of the original cantilever vibration gyroscope, a new piezoelectric film coupling structure was proposed. Then, the new structure was simulated by ANSYS software combined with 50, 60, 100 mmcantilevers to prove its engineering feasibility. Finally, a prototype of the gyroscope based on the new structure and test performance was produced in a laboratory. Simulation and prototype experiments show that the average sensitivity of the new structure gyroscope increases by 8.73%, and the average zero drift and temperatare drift decrease by 30.5% and 10%, respectively when the temperature is 25℃. These results prove that the improved cantilever vibration gyroscope can be used in engnieering practices.