This paper proposes an initial attitude estimation method of roll angle estimation technique for spinning vehicle. This method estimates the epoch expected to 0 degree of roll angle. To estimate this epoch, proposed method uses the change of the received signal caused by rotation. When a roll angle estimation technique is operated in appropriate time such as estimated epoch by proposed method, it is possible to ensure more stable operation. To verify proposed method, a simulator based on software is used.

Keywords: attitude estimation, roll angle estimation, spinning vehicle