Method for matching the natural frequencies of the drive and sense oscillators in a vibrating coriolis gyroscope

A method of matching, in a Coriolis gyroscope, the natural frequency of a sense oscillator to the natural frequency of a drive oscillator, comprising; generating a plurality of pilot tones of different frequencies and adding each pilot tone to a feedback signal that drives the sense oscillator; detecting a gain and phase difference in each pilot tone after it has passed through the sense oscillator; estimating a transfer function for the feedback signal using the detected gain and phase difference for each pilot tone; determining an estimated transfer function, which is indicative of the natural frequency of the sense oscillator; comparing the estimated natural frequency of the sense oscillator to a known natural frequency of the drive oscillator to obtain a difference; and controlling frequency matching electrodes, using the difference, to effect a change in the natural frequency of the sense oscillator.