An azimuth/attitude angle measuring device (100, 200) comprising: a first angular velocity sensor (103, 103a) that detects an angular velocity around a first axis; a second angular velocity sensor (104, 104a, 105, 105a) that detects an angular velocity around a second axis in a direction different from the first axis; a power supply unit that supplies power to the first angular velocity sensor (103, 103a) and the second angular velocity sensor (104, 104a, 105, 105a); and a control unit, wherein the first angular velocity sensor (103, 103a) and the second angular velocity sensor (104, 104a, 105, 105a) each include a vibrator, a primary side control circuit that has a closed control loop, an output of the closed control loop inducing primary vibration in the vibrator, and a secondary side control circuit that has a closed control loop for detecting secondary vibration generated in the vibrator due to an angular velocity applied to the vibrator, a configuration is made so that a function of inducing the primary vibration and a function of detecting the secondary vibration are interchangeable, and the control unit is configured so that, when an angular velocity to be used for an operation before and after interchanging the function of inducing the primary vibration and the function of detecting the secondary vibration is detected by one of the first angular velocity sensor (103, 103a) and the second angular velocity sensor (104, 104a, 105, 105a), the control unit does not perform control for interchanging the function of inducing the primary vibration and the function of detecting the secondary vibration in the other of the first angular velocity sensor (103, 103a) and the second angular velocity sensor (104, 104a, 105, 105a). a first angular velocity sensor (103, 103a) that detects an angular velocity around a first axis; a second angular velocity sensor (104, 104a, 105, 105a) that detects an angular velocity around a second axis in a direction different from the first axis; a power supply unit that supplies power to the first angular velocity sensor (103, 103a) and the second angular velocity sensor (104, 104a, 105, 105a); and a control unit, wherein the first angular velocity sensor (103, 103a) and the second angular velocity sensor (104, 104a, 105, 105a) each include a vibrator, a primary side control circuit that has a closed control loop, an output of the closed control loop inducing primary vibration in the vibrator, and a secondary side control circuit that has a closed control loop for detecting secondary vibration generated in the vibrator due to an angular velocity applied to the vibrator, a vibrator, a primary side control circuit that has a closed control loop, an output of the closed control loop inducing primary vibration in the vibrator, and a secondary side control circuit that has a closed control loop for detecting secondary vibration generated in the vibrator due to an angular velocity applied to the vibrator, a configuration is made so that a function of inducing the primary vibration and a function of detecting the secondary vibration are interchangeable, and the control unit is configured so that, when an angular velocity to be used for an operation before and after interchanging the function of inducing the primary vibration and the function of detecting the secondary vibration is detected by one of the first angular velocity sensor (103, 103a) and the second angular velocity sensor (104, 104a, 105, 105a), the control unit does not perform control for interchanging the function of inducing the primary vibration and the function of detecting the secondary vibration in the other of the first angular velocity sensor (103, 103a) and the second angular velocity sensor (104, 104a, 105, 105a).