Method for controlling the precession of a vibrating structure gyroscope

A device for controlling precession for a vibrating structure gyroscope comprising a support mobile in a platform coordinate system and stationary in a measurement coordinate system, and a resonator mobile with respect to the support, the control device comprising:

• a generator configured to generate a first control signal suitable for rotating a vibration of the resonator with respect to the support in two opposite directions of rotation during a first period,
• wherein the control device comprises:
• an input for receiving data on relative positioning between the measurement coordinate system and the platform coordinate system, comprising a matrix for transition from the measurement coordinate system to the platform coordinate system, calculated at a reference time,
• a calculation unit configured to calculate, on the basis of the first control signal generated by the generator and the positioning data received via the input, a second control signal to be generated during a second period, the second control signal being chosen in such a way as to minimize an average of accumulated angular errors in angular measurements acquired by the gyroscope during the entirety of the first and second period, the angular errors being expressed in the platform coordinate system, the second precession signal being calculated under the hypothesis that the relative-positioning data is fixed from the reference time throughout the entire second period and under the hypothesis that said angular errors are constant throughout the entire second period.