# Frequently Asked Question

What is the bias drift of gyroscopes?

Last Updated 2 years ago

The gyroscope gives us

**the rate of change of the angular position over time**(angular velocity) with a unit of [deg./s]. This means that we get the derivative of the angular position over time.

To obtain the angular position, we can simply integrate the angular velocity. So, assuming that at t=0 theta=0, we can find the angular position at any given moment t with the following equation: The gyroscope drift is mainly due to the integration of two components:

- a slow changing, near-dc variable called bias instability
- a higher frequency noise variable called angular random walk (ARW)

source: https://www.analog.com/media/en/analog-dialogue/raqs/raq-issue-139.pdf