Method of angular measurement by means of a vibrating sensor to which modulated controls are applied

A method of angular measurement by a sensor comprising an axisymmetric resonator associated with means for setting the resonator into vibration and with means for detecting an orientation of the vibration with respect to a reference frame tied to a casing of the sensor and/or to the resonator, the method comprising:

• the steps of
• applying a precession control so as to slave the orientation of the vibration to an angular setpoint value;
• determining an angular measurement on basis of the precession control;
• modulating the angular setpoint value in such a way that the setpoint value uniformly sweeps an angular span of kπ radians, k being an integer, in one direction and then in the opposite direction,
• wherein a temporal derivative of the setpoint is deducted from the precession control prior to the determination of the angular measurement.