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We realize a Mach-Zehnder-type dual-atom-interferometer gyroscope with aninterrogation arm of 40 cm length and the interference area up to 1.2 cm$^2$.The precise angular alignment of the large-scale separated Raman lasers isdemonstrated by seeking the phase intersection of Ramsey-Bord$\acute{e}$interferometers after the gravity effect is compensated and by decoupling thevelocity dependent crosstalk phase shifts, and applied to build theMach-Zehnder atom interferometer. Then a compact inertial rotation sensor isrealized based on dual large-area Mach-Zehnder atom interferometers byprecisely aligning the large-scale separated Raman lasers, in which thecoherence is well preserved and the common noise is differentially suppressed.The sensor presents a sensitivity of $1.5\times10^{-7}$ rad/s/Hz$^{1/2}$, and astability of $9.5\times10^{-10}$ rad/s at 23000 s. The absolute rotationmeasurement is carried out by adjusting the atomic velocity which correspondsto modulating the scale factor.

Self-Alignment of a Large-Area Dual-Atom-Interferometer Gyroscope Using Parameter Decoupled Phase Seeking Calibrations