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He-Ne ring laser gyroscopes are, at present, the most precise devices forabsolute angular velocity measurements. Limitations to their performance comefrom the non--linear dynamics of the laser. Following the Lamb semi-classicaltheory, we find a set of critical parameters affecting the time stability ofthe system. We propose a method for estimating the long term drift of the laserparameters and for filtering out the laser dynamics effects from the rotationmeasurement. The parameter estimation procedure, based on the perturbativesolutions of the laser dynamics, allow us to apply Kalman Filter theory for theestimation of the angular velocity. Results of a comprehensive Monte Carlosimulation and results of a preliminary analysis on experimental data from thering laser prototype G-Pisa are shown and discussed.

Compensation of the laser parameters fluctuations in large ring laser gyros: a Kalman filter approach