A vibration-type angular velocity sensor (100) includes a primary side control circuit (2) and a secondary side control circuit (3) which are configured so that a function as the primary side control circuit (2) and a function as the secondary side control circuit (3) are interchangeable, in which an offset value after interchange and an offset value before interchange are symmetric values with respect to a predetermined reference value.

A vibration-type angular velocity sensor (100) includes a primary side control circuit (2) and a secondary side control circuit (3) which are configured so that a function as the primary side control circuit (2) and a function as the secondary side control circuit (3) are interchangeable, in which an offset value after interchange and an offset value before interchange are symmetric values with respect to a predetermined reference value.

A phase locked loop has an oscillator that varies a frequency according to a control signal, a resonance element that resonates at a predetermined resonance frequency and output a signal obtained by shifting a phase of an output signal of the oscillator by 90 degrees at the resonance frequency, a phase detector that detects a phase error between an output signal of the resonance element and an output signal of the oscillator, a feedback controller that controls a frequency of an output signal of the oscillator by proportional control and integral control according to the phase error, and a control signal corrector that corrects the control signal by adding a correction term corresponding to environment information to an output signal of the feedback controller.

A phase locked loop has an oscillator that varies a frequency according to a control signal, a resonance element that resonates at a predetermined resonance frequency and output a signal obtained by shifting a phase of an output signal of the oscillator by 90 degrees at the resonance frequency, a phase detector that detects a phase error between an output signal of the resonance element and an output signal of the oscillator, a feedback controller that controls a frequency of an output signal of the oscillator by proportional control and integral control according to the phase error, and a control signal corrector that corrects the control signal by adding a correction term corresponding to environment information to an output signal of the feedback controller.

The present invention relates to a sensor (10) comprising a housing (12) and a vibrating element (15) apt to vibrate relative to the housing (12), comprising: an initialization (410), to provide a pilot amplitude (x.sub.max), a detection amplitude (y.sub.max), an adjustment command (T.sup.th) of predetermined spectral signature, and a calibration angular speed (.sub.cal); a calibration (420), comprising the servoing to the pilot amplitude and to the detection amplitude of the vibrations of the vibrating element (15) along the direction (x) of the pilot mode and the direction (y) of the detection mode, and simultaneously the exertion of a first stable force (F.sub.y,phase,supp.sup.app) configured not to disturb the measurement of the sensor (10) from the adjustment command (T.sup.th), as well as the application of a second force (F.sub.y,quad.sup.app) determined on the basis of the spectral signature of the adjustment command so as to cause a rotation of the direction of the pilot mode, an instantaneous angular speed ((t)) of the housing (12) being imposed as equal to the calibration angular speed (.sub.cal), and the determination of a reference angular speed (.sub.ref); an acquisition (430), analogous to the calibration but with a free instantaneous angular speed ((t)); a determination (440) of a measured instantaneous angular speed (.sub.mes(t)).