Aiming at the problem that the error modeling method of inertial devices affects the error compensation accuracy which affects the navigation system accuracy,an error modeling method of inertial devices based on statistical characteristics restoration of device noise is proposed.Firstly,the high-frequency noise error is restored by power spectral density modeling,and then the low-frequency noise error is restored by the performance calculation method corresponding to its statistical characteristics.It not only avoids the problem that the power spectral density modeling method is weak in characterizing the low-frequency noise of devices,but also avoids the large amount of preliminary workload and calculation in the machine learning method.Compared with the existing error modeling methods,the experiment show that the error between the device mathematical model output and the real device output is reduced by an order of magnitude,and the device error compensation accuracy is higher in pedestrian navigation application.The navigation position error is reduced by 35.261% and the heading angle error is reduced by 31.198% after compensation,which effectively improves the accuracy of pedestrian navigation system.