# How to measure the gyro angle directly in LEGO EV3 Mindstorms?

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pravin behera on 20 Dec 2015
Answered: Yunes Almansoob on 29 Jan 2018
The LEGO mindstorms ev3 comes with a support package provided by mathworks, but we can only measure the gyro rate not the angle. So, if i find the gyro angle by simple integration there is some offset added to it. Actually the gyro rate is having a resoultion(minimum output) of 1 deg/sec, So becoz of noise it goes 0 - 1 - 0 - 1 - 0..... so the cumulative angle goes on increasing, please reply... if u have any solution...

Yunes Almansoob on 29 Jan 2018
Observing the results it can be seen that there exists an offset (the bias) on all of the three axes, but mostly on y (positive) and z axis (negative). To calculate angle α, the output of the gyroscope ω (angular speed), is integrated over time t [25]: !
(3-3) The graph below shows the results without compensating for the bias error introduced by the offset: during 20 seconds we get an angle of 0.12 and -0.15 radians around the y and z axis respectively. For example, the error on the y axis is: 0.12/20 = 0.006 radians/s, or 0.35 degrees/s