METHOD FOR MEASURING AN ANGULAR SPEED AND/OR AN ANGULAR POSITION

Method for measuring an angular velocity of rotation and/or an angular position Method for measuring an angular velocity and/or an angular position comprising the steps of: (a) Reception of first and second vibration detection signals according to primary and secondary resonance modes of a resonator (3); (b) Implementation of at least four control loops respectively using first, second, third and fourth regulators (R1, R2, R3, R4); (c) Estimation of said angular velocity and/or of said angular position, as a function of the outputs of the regulators; characterized in that the first regulator (R1) seeks to minimize the difference between the in-phase component of the first detection signal and the product, by a first coefficient C1 as a function of the azimuthal angle θ in the orthogonal modal basis of the primary and secondary modes, of a vibration reference amplitude of the resonator (3), and the third regulator (R3) seeks to minimize the difference between the in-phase component of the second detection signal and the product, by a second coefficient C2 as a function of said angle θ, of said vibration reference amplitude of the resonator (3).