A system (100, 800) for gyroscope dynamic motor amplitude compensation during startup, the system comprising: at least one gyroscope (110, 830); at least one processor in operative communication with the gyroscope; at least one memory unit operatively coupled to the processor; wherein the memory unit and the processor are configured to respectively store and execute program modules comprising: an a-priori motor amplitude module configured to generate an a-priori motor amplitude signal based on a model of gyroscope motor amplitude growth during startup; a steady state scale factor module configured to generate a steady state scale factor signal; and a dynamic motor amplitude compensation module configured to receive the a-priori motor amplitude signal from the motor amplitude module, and the steady state scale factor signal from the steady state scale factor module; wherein during a startup phase for the gyroscope: a rate motion is sensed by the gyroscope and a sensed rate signal is output by the gyroscope; and the dynamic motor amplitude compensation module is configured to calculate a time varying scale factor based on the steady state scale factor signal and the a-priori motor amplitude signal, wherein the sensed rate signal is multiplied by the time varying scale factor to determine an adjusted sensed rate for the gyroscope that provides motor amplitude compensation and accurate rate estimation during the startup phase for the gyroscope. at least one gyroscope (110, 830); at least one processor in operative communication with the gyroscope; at least one memory unit operatively coupled to the processor; wherein the memory unit and the processor are configured to respectively store and execute program modules comprising: an a-priori motor amplitude module configured to generate an a-priori motor amplitude signal based on a model of gyroscope motor amplitude growth during startup; a steady state scale factor module configured to generate a steady state scale factor signal; and a dynamic motor amplitude compensation module configured to receive the a-priori motor amplitude signal from the motor amplitude module, and the steady state scale factor signal from the steady state scale factor module; an a-priori motor amplitude module configured to generate an a-priori motor amplitude signal based on a model of gyroscope motor amplitude growth during startup; a steady state scale factor module configured to generate a steady state scale factor signal; and a dynamic motor amplitude compensation module configured to receive the a-priori motor amplitude signal from the motor amplitude module, and the steady state scale factor signal from the steady state scale factor module; wherein during a startup phase for the gyroscope: a rate motion is sensed by the gyroscope and a sensed rate signal is output by the gyroscope; and the dynamic motor amplitude compensation module is configured to calculate a time varying scale factor based on the steady state scale factor signal and the a-priori motor amplitude signal, wherein the sensed rate signal is multiplied by the time varying scale factor to determine an adjusted sensed rate for the gyroscope that provides motor amplitude compensation and accurate rate estimation during the startup phase for the gyroscope. a rate motion is sensed by the gyroscope and a sensed rate signal is output by the gyroscope; and the dynamic motor amplitude compensation module is configured to calculate a time varying scale factor based on the steady state scale factor signal and the a-priori motor amplitude signal, wherein the sensed rate signal is multiplied by the time varying scale factor to determine an adjusted sensed rate for the gyroscope that provides motor amplitude compensation and accurate rate estimation during the startup phase for the gyroscope.