One kind of GNSS integrated navigation and MIMU Microgyroscope g sensitivity error compensation method

The present invention discloses a combination of GNSS navigation and MIMU Microgyroscope g sensitivity error compensation method, comprising the steps of: (1) the establishment of micro-g sensitivity gyro error equation; (2) the establishment of GNSS g containing sensitive error / MIMU integrated navigation system equations; (3) the use of nonlinear global observability analysis of GNSS g containing sensitive error / MIMU globally integrated navigation system observability analysis, design of the system is a combination of global considerable motion path; (4) according to step (1) obtained in micro-g sensitivity gyro error equation, construct the corresponding Kalman filter, and follow the steps (3) obtained in a motion path to achieve compensation Microgyroscope g sensitivity errors. The present invention has simple, easy to operate, a wide range of advantages.