The invention discloses a direction adjustment method based on angular velocity difference. The method comprises the steps of converting accelerated velocity output by an East-North-Up coordinate system into a carrier coordinate system to obtain a first error vector of an accelerometer; rotating output of an electronic compass in the carrier coordinate system into the East-North-Up coordinate system to obtain a second error vector of a magnetic field vector; adding the first error vector and the second error vector compensated by accelerated velocity data and magnetic field data to obtain an error; obtaining corrected angular velocity according to the angular velocity value of an error correction gyro, and updating quaternion by means of the corrected angular velocity; calculating the directional angle information of a carrier with the integral method by means of the corrected angular velocity. Directional angle is calculated by combining quaternion complementary filtration with angular velocity difference, the complexity of an algorithm is reduced, the influence of radon constant value deviation of a sensor itself on angle calculation is reduced, angle calculation precision is improved, and then indoor positioning accuracy is improved.