In this paper the possibility of generating additional gyro outputs, which are the increments of the angular rate multiple integrals over the sampling interval, is justified. Taking the square-law model for the angular rate as an example, a new algorithm for estimation of angular rate model's coefficients by the least-squares method is derived and the appropriate smoothing attitude algorithm is derived and analytically examined. To evaluate the efficiency of the derived algorithm in comparison with the conventional one (Miller's) under the pure coning and the high-frequency oscillatory input, given individually and in combination, the numerical simulation was performed. The simulation results are presented which demonstrate the advantages of the proposed algorithms in all cases under consideration.
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