A feed-forward rotation rate processing method for a resonating fiber optic gyroscope having an optical resonator, the method comprising: operating the resonating fiber optic gyroscope, for a first period of time, with a first optical beam locked to a first resonance mode M 1 of the optical resonator, the first optical beam generated with a first laser source controlled by a first resonance switching servo loop, and a second optical beam locked to a second resonance mode M 2 of the optical resonator, the second optical beam propagating around the optical resonator in a direction opposite to the first optical beam, the second optical beam with a second laser source controlled by a second resonance switching servo loop; calculating, for the first period of time, a first resonance frequency measurement average based on the first optical beam output and a second resonance frequency measurement average based on the second optical beam output; operating the resonating fiber optic gyroscope, for a second period of time following the first period of time, with the first optical beam locked to the second resonance mode M 2 of the optical resonator, and the second optical beam locked to the first resonance mode M 1 of the optical resonator; calculating, for the second period of time, a third resonance frequency average for the first optical beam, and a fourth resonance frequency average for the second optical beam; calculating a free spectral range average over the first period of time and the second period of time as a function of the first resonance frequency average, the second resonance frequency average, third resonance frequency average, and the fourth resonance frequency average; and generating a rotation rate measurement frequency value f Ω sample signal based on a function of a first resonance frequency measurement for the first optical beam captured after the second period of time, a second resonance frequency measurement for the second optical beam captured after the second period of time, and the free spectral range average. operating the resonating fiber optic gyroscope, for a first period of time, with a first optical beam locked to a first resonance mode M 1 of the optical resonator, the first optical beam generated with a first laser source controlled by a first resonance switching servo loop, and a second optical beam locked to a second resonance mode M 2 of the optical resonator, the second optical beam propagating around the optical resonator in a direction opposite to the first optical beam, the second optical beam with a second laser source controlled by a second resonance switching servo loop; calculating, for the first period of time, a first resonance frequency measurement average based on the first optical beam output and a second resonance frequency measurement average based on the second optical beam output; operating the resonating fiber optic gyroscope, for a second period of time following the first period of time, with the first optical beam locked to the second resonance mode M 2 of the optical resonator, and the second optical beam locked to the first resonance mode M 1 of the optical resonator; calculating, for the second period of time, a third resonance frequency average for the first optical beam, and a fourth resonance frequency average for the second optical beam; calculating a free spectral range average over the first period of time and the second period of time as a function of the first resonance frequency average, the second resonance frequency average, third resonance frequency average, and the fourth resonance frequency average; and generating a rotation rate measurement frequency value f Ω sample signal based on a function of a first resonance frequency measurement for the first optical beam captured after the second period of time, a second resonance frequency measurement for the second optical beam captured after the second period of time, and the free spectral range average.