In order to solve the problem that HRGs output may not satisfy the stability requirement of time series analysis an improved time series-grey prediction method based on empirical mode decomposition was proposed.This method combined empirical mode decomposition with time series modeling and grey prediction.First the empirical mode decomposition was used for preprocessing the original signals of the gyro and separating the trend part from random part.Then the stability of the signals was analyzed and time series analysis and grey prediction were used to model and predict the data according to the result of analysis.At last the final prediction result was obtained by reconstructing the prediction result.Simulation results demonstrate that the prediction effect of this method is better than the one using time series analysis alone.