Aiming at problem that the characteristic of the micro inertial integrated navigation system is seriously influenced by effect of stochastic error modeling

a stochastic error modeling method using auto regressive moving average（ARMA） for micro inertial sensor is proposed.Through analysis on application of stochastic error model in micro inertial device error modeling

introducing Yule-Walker equation to linear prediction problems

estimation of AR power spectral density is achieved.ARMA models are set up based on rational power spectral density of stochastic process.Actual data validates the effectiveness of modeling methods.This method provides a new approach for modeling and analysis of stochastic errors.