The embodiment of the present invention discloses a pan-tilt holder drift compensation method. The compensation method of the invention is a compensation algorithm which integrates the advantages of agyro and an IMU (Inertial Measurement Unit) adopting filtering and fusion, can realize high-performance inertial stability and automatically solve the problem of line-of-sight angle shift in real time, enables the line-of-sight angle of an imaging device mounted on a pan-tilt holder to steadily and continuously point to a key area so as to realize long-time photographing.