Certainty trend terms in drifting are abstracted based on GM（1

1） improved model

and modeling analysis is done on the stochastic drift using AR（3） model.

the stochastic drift signals are processed using Kalman filter.Allan variance analysis shows that the drift noises after compensation of GM-AR models are greatly reduced.Measurement results with higher precision can be obtained in practical application by using the method mentioned above.The angle random walk

rate random walk

rate ramp

the bias instability and quantization noise are decreased

and the stability of MEMS gyro drift output is improved.