A resonant fiber optic gyroscope, comprising: coherent light sources ; wherein the coherent light sources generate a clockwise light signal and a counter-clockwise light signal ; an optical resonator , coupled to the coherent light sources , formed from optical fiber and including a primary coil ; an input axis parallel to a center axis of the primary coil ; wherein a portion of the clockwise light signal and a portion of the counter-clockwise light signal enter and propagate respectively clockwise and counter-clockwise around the optical resonator and the input axis; a first photodetector coupled to the optical resonator ; a second photodetector coupled to the optical resonator ; wherein the first photodetector is configured to generate a first feedback signal whose amplitude varies based upon incident power of a portion of the counter clockwise light signal that exits the optical resonator; wherein the second photodetector is configured to generate a second feedback signal whose amplitude varies based upon incident power of a portion of the clockwise light signal that exits the optical resonator; a piezoelectric transducer around which the optical fiber of the primary coil is wound; a first voltage source coupled to the piezoelectric transducer and configured to generate a waveform having maxima and minima; a processing system ; and wherein the processing system is configured to generate a signal, representative of an angular rotation rate around the input axis , with diminished bias error including diminished bias error arising about at least one of the waveform's maxima and minima based upon measured signals representative of the angular rotation rate in a linear region of the waveform. coherent light sources ; wherein the coherent light sources generate a clockwise light signal and a counter-clockwise light signal ; an optical resonator , coupled to the coherent light sources , formed from optical fiber and including a primary coil ; an input axis parallel to a center axis of the primary coil ; wherein a portion of the clockwise light signal and a portion of the counter-clockwise light signal enter and propagate respectively clockwise and counter-clockwise around the optical resonator and the input axis; a first photodetector coupled to the optical resonator ; a second photodetector coupled to the optical resonator ; wherein the first photodetector is configured to generate a first feedback signal whose amplitude varies based upon incident power of a portion of the counter clockwise light signal that exits the optical resonator; wherein the second photodetector is configured to generate a second feedback signal whose amplitude varies based upon incident power of a portion of the clockwise light signal that exits the optical resonator; a piezoelectric transducer around which the optical fiber of the primary coil is wound; a first voltage source coupled to the piezoelectric transducer and configured to generate a waveform having maxima and minima; a processing system ; and wherein the processing system is configured to generate a signal, representative of an angular rotation rate around the input axis , with diminished bias error including diminished bias error arising about at least one of the waveform's maxima and minima based upon measured signals representative of the angular rotation rate in a linear region of the waveform. <EOS>