  We realize a Mach-Zehnder-type dual-atom-interferometer gyroscope with an
interrogation 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 is
demonstrated by seeking the phase intersection of Ramsey-Bord$\acute{e}$
interferometers after the gravity effect is compensated and by decoupling the
velocity dependent crosstalk phase shifts, and applied to build the
Mach-Zehnder atom interferometer. Then a compact inertial rotation sensor is
realized based on dual large-area Mach-Zehnder atom interferometers by
precisely aligning the large-scale separated Raman lasers, in which the
coherence 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 a
stability of $9.5\times10^{-10}$ rad/s at 23000 s. The absolute rotation
measurement is carried out by adjusting the atomic velocity which corresponds
to modulating the scale factor.
