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This paper addresses the issue of autonomous navigation method based on MEMS sensor optimization for mobile robot in Global Urban System (GUS). A new GPS/INS (Inertial Navigation System) navigation scheme is proposed, based on MEMS gyro north-finding approach. Existing research in the area of GUS focuses on the issues related to SLAM (Simultaneous Localization and Mapping) and planned trajectory tracking, while our work will specially consider about the robot's effectiveness and adaptability based on MEMS gyroscope technology and application in prescribed urban area. And we apply the urban map and GPS information into the outdoor experiment to observe the mobile robot's trajectory. Compared with usual integrated navigation, the system's structure is simplified; targeting precision and navigation performance are improved. From the simulation and experimental results, the MEMS gyro north finding accuracy, effectiveness and usefulness of the proposed autonomous navigation scheme are confirmed.