In order to increase the stabilization precision of gyroscope-stabilized platform, put forward a method of velocity loop of gyroscope-stabilized platform based on extended state observer (ESO). The disturbances can be observed in real time by using ESO, so the stabilization precision and smoothness of the gyroscope-stabilized platform can be advanced. The system simulation shows that this method is easy to carry out, and compensates the system disturbances effective, so it has great advantages in utility.