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The main noise sources and error model on random error are analyzed in order to improve measurement precision of MEMS gyroscope. A proper model is made in view of the MEMS gyroscope random error after the analysis of the structure defects of MEMS gyroscope and corresponding filtering , smoothness test. And the validity of error model is verified via error compensation derived from the Kalman filter. The principle factors that affect the measurement performance of MEMS gyroscope are confirmed with the analysis of MEMS gyroscope noise items using Allan variance method and the coefficients of various noise sources are compared before and after filtering to examine the filter, the experiment shows that error model significantly improved the precision of the measurement of MEMS gyroscope.