jgg     2014 34 (6):  144-147    ISSN: 0412-1961  CN: 21-1139/TG ANALYSIS OF GYROSCOPE RANDOM ERROR AND  APPLICATION ON GNSS/INS INTEGRATION 1）College of Navigation and Aerospace Engineering，Information Engineering University，Zhengzhou 450001 2）71687 Troops，Xinxiang 453000 Received: 2013-10-13  Revised: null  Online: 2014-12-09 Supporting info