The invention discloses a zero-offset self-calibration atomic gyroscope, comprising a header A, a header B, a detection light path A, a detection light path B, a pumping light path A, a pumping lightpath B, a signal processing and control system, a magnetic field driver A and a magnetic field driver B; and the sensitive directions of the header A and the header B are the same, the magnetic fielddriver A and the magnetic field driver B sequentially change the current directions of offset main magnetic field coils in the headers, so that header scale factors have inverse polarities, and a zero-offset observer in the signal processing and control system implements the zero-offset error calculation of the header A and the header B and the closed-loop stability of the main magnetic field. Thezero-offset self-calibration atomic gyroscope disclosed by the invention can realize continuous output of the gyroscope under dynamic conditions, and can accurately stabilize the main magnetic fieldby calculating the Larmor frequency difference corresponding to the respective two isotopes of the two headers before and after the inversion, without being affected by an alkali metal magnetic fieldand an electric quadrupole moment on the closed-loop control precision of the main magnetic field.