CFI. Roll Angle estimation High freq. integrating roll rate(p) gyro output Low freq. using aircraft kinematics Assuming steady state turn dynamics roll angle is related with turning rate, which is close to yaw rate(r) Lsing=mvQ2 L≈mg g np≈p mg CF setup Roll Rate p HPF Gyro Roll angle Yaw r estimate Rate LPF yroCF1. Roll Angle Estimation • High freq. : integrating roll rate (p) gyro output • Low freq. : using aircraft kinematics - Assuming steady state turn dynamics, roll angle is related with turning rate, which is close to yaw rate (r) L sin φ = mVΩ L ≈ mg V φ ≈ r g Ω ≈ r sin φ ≈ φ CF setup Roll Rate Gyro Yaw Rate Gyro 1 s HPF LPF V g + + Roll angle estimate p r φ