A method for measuring an angular velocity of a rotation and/or an angular position, about a sensitive axis of an axisymmetric vibratory gyroscope sensor, comprising the implementation, by means for processing data from the axisymmetric vibratory gyroscope sensor, of steps of: (a) receiving, from an electromechanical coupling instrument of a resonator of the axisymmetric vibratory gyroscope sensor, a first detection signal regarding a vibration of said resonator according to a primary resonance mode, and a second detection signal regarding a vibration of said resonator according to a secondary resonance mode; each of the first and the second detection signal comprising an in-phase component and a phase-quadrature component; said resonator being vibrated via said electromechanical coupling instrument according to a first signal for exciting the primary resonance mode and a second signal for exciting the secondary resonance mode; (b) implementing at least four control loops, including: ∘ a first loop for controlling the vibration amplitude of the resonator about the primary resonance mode axis, using a first regulator; ∘ a second phase-locked loop generating in-phase and phase-quadrature reference harmonic signals of the primary mode and/or secondary mode, for separating said in-phase and phase-quadrature components of the detection signals, using a second regulator; ∘ a third loop for compensating for the Coriolis forces due to said rotation of the resonator exciting a resonance mode perpendicular to the vibration, using a third regulator; ∘ a fourth loop for controlling the quadrature of said resonance mode perpendicular to the resonator vibration, using a fourth regulator; (c) estimating said angular velocity and/or said angular position, as a function of the regulator outputs; characterized in that the vibration is constrained by the first and second excitation signals in such a way as to have an azimuthal angle θ in the orthogonal modal base of the primary and secondary modes, the first regulator aiming at minimizing the difference between the in-phase component of the first detection signal and the product, by a first coefficient C1 that is function of the azimuthal angle θ, of a setpoint vibration amplitude of the resonator, and the third regulator aiming at minimizing the difference between the in-phase component of the second detection signal and the product, by a second coefficient C2 that is function of the azimuthal angle θ, of said setpoint vibration amplitude of the resonator, the first loop being also a Coriolis force compensation loop and the third loop being also a loop for controlling the vibration amplitude of the resonator about the secondary resonance mode axis. (a) receiving, from an electromechanical coupling instrument of a resonator of the axisymmetric vibratory gyroscope sensor, a first detection signal regarding a vibration of said resonator according to a primary resonance mode, and a second detection signal regarding a vibration of said resonator according to a secondary resonance mode; each of the first and the second detection signal comprising an in-phase component and a phase-quadrature component; said resonator being vibrated via said electromechanical coupling instrument according to a first signal for exciting the primary resonance mode and a second signal for exciting the secondary resonance mode; (b) implementing at least four control loops, including: ∘ a first loop for controlling the vibration amplitude of the resonator about the primary resonance mode axis, using a first regulator; ∘ a second phase-locked loop generating in-phase and phase-quadrature reference harmonic signals of the primary mode and/or secondary mode, for separating said in-phase and phase-quadrature components of the detection signals, using a second regulator; ∘ a third loop for compensating for the Coriolis forces due to said rotation of the resonator exciting a resonance mode perpendicular to the vibration, using a third regulator; ∘ a fourth loop for controlling the quadrature of said resonance mode perpendicular to the resonator vibration, using a fourth regulator; ∘ a first loop for controlling the vibration amplitude of the resonator about the primary resonance mode axis, using a first regulator; ∘ a second phase-locked loop generating in-phase and phase-quadrature reference harmonic signals of the primary mode and/or secondary mode, for separating said in-phase and phase-quadrature components of the detection signals, using a second regulator; ∘ a third loop for compensating for the Coriolis forces due to said rotation of the resonator exciting a resonance mode perpendicular to the vibration, using a third regulator; ∘ a fourth loop for controlling the quadrature of said resonance mode perpendicular to the resonator vibration, using a fourth regulator; (c) estimating said angular velocity and/or said angular position, as a function of the regulator outputs;