Abstract: A method and apparatus for estimating angular rates for movable bodies in space. A high-pass component qg is produced by a reasonable rate gyro connected in cascade with an internal or external high-pass filter. A low-frequency component ql is produced by an accelerometer and a multiplier, which includes the axial velocity Vm of the body, and a transfer function H(s), where the properties of the transfer function H(s) are adapted to the properties of the high-pass filter. The cascade-connected rate gyro and high-pass filter are interconnected with the low-frequency rate estimator and fixedly mounted in a movable body, such as a guided weapon, and produce a resultant rate gyro signal qc that is am estimate of the body's angular rate about the relevant axis.