He-Ne ring laser gyroscopes are, at present, the most precise devices forabsolute angular velocity measurements. Limitations to their performancecome from the non–linear dynamics of the laser. Following the Lamb semiclassicaltheory, we find a set of critical parameters affecting the time stabilityof the system. We propose a method for estimating the long term drift ofthe laser parameters and for filtering out the laser dynamics effects from therotation measurement. The parameter estimation procedure, based on theperturbative solutions of the laser dynamics, allow us to apply Kalman Filtertheory for the estimation of the angular velocity. Results of a comprehensiveMonte Carlo simulation and results of a preliminary analysis on experimentaldata from the ring laser prototype G-Pisa are shown and discussed.
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