A method of determining an angular velocity of an aircraft includes measuring the angular velocity using at least one gyro delivering a measured angular velocity signal affected by stochastic noise; measuring the angular acceleration of the aircraft using at least one accelerometer delivering a signal representing the angular acceleration of the aircraft; and using a filtering complementary in a frequency domain to combine a sum of the measured angular velocity signal and the angular acceleration signal so as to obtain a hybrid estimated angular velocity signal with reduced stochastic noise.