According to the requirements of the engineering application,the noise characteristics of the output signals of piezoelectric gyroscope were analyzed in this paper.A real time filtering method combined the IIR low pass filtering and real time wavelet filtering was proposed.The computing complexity of wavelet’s direct and inverse transformation has been reduced from 384 to 360,and the complexity of half soft threshold has been reduced from 4 096 to 4 032.The simulation result of experiment data and fully formed program of algorithm by using MATLAB 7.1 has been showed that this method can restrain the noise of gyroscope in real time,and the time of fully formed program of algorithm is obviously reduced while the gyroscope’s output stability has been enhanced.