# Ways to estimate the drift rate of the gyrometer

I found not so much literature to the topic, this is why I ask here. Does someone know some ways to estimate the drift rate of the gyrometer. I was thinking about basically two approaches. One would be to use a low pass filter with a low cut-off frequency to estimate the drift of the angular velocity. Second would be to use the accelerometer, calculate the attitude dcm and by this also the angular velocity. The difference between the acc angular velocity and gyrometer would be maybe also a drift rate. Nevertheless, I am not so sure whether this is a good way to get reliable drift rates :D