To obtain higher resolution gyro signal, the requirement of the missile-brone gyro signal acquisition system and the advantages and disadvantages of existing collection system are analyzed, and the missile-brone gyro signal acquisition system based on the STM32 is designed. The principle and hardware design of the system are introduced, and the filter algorithm is designed to eliminate the possible existence of error. Finally, testing and verification for the designed system is carried out, the results show that the system can meet the requirements of the missile-brone signal acquisition.