Estimating Angular Velocity From Output of Rate-Integrating Gyro

B. Friedland

Research output: Contribution to journalArticlepeer-review

6 Scopus citations


The Kalman filtering technique can be used to improve estimates of angular velocity (in a strapped-down navigation system) using angular increment (rate integral) data. A simple, second-order, constant coefficient digital filter can yield significant improvement for a very high or a very low noise-to-signal ratio = 4 σθ/σαT2, where σθ is the rms noise in measuring angular increments, σαis the rms angular acceleration, and T is the sampling time. For, ≈ 1, the filter affords negligible performance improvement.

Original languageEnglish (US)
Pages (from-to)551-555
Number of pages5
JournalIEEE Transactions on Aerospace and Electronic Systems
Issue number4
StatePublished - Jul 1975
Externally publishedYes

All Science Journal Classification (ASJC) codes

  • Aerospace Engineering
  • Electrical and Electronic Engineering


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