Patent ID: 7134336

Claim:
A vibration type angular velocity sensor comprising: a first angular velocity sensor and a second angular velocity sensor; and an anomaly monitoring signal generating and outputting unit including an opposite phase waveform synthesis portion, wherein each of the first and the second angular velocity sensors includes: a vibrator for being vibrated in a predetermined reference direction; a vibration driving unit for vibrating the vibrator with a predetermined constant amplitude; and a detection waveform generation unit for detecting a vibration component of the vibrator in an angular velocity detection direction perpendicular to the reference direction in accordance with an angular velocity applied to the vibrator and for generating a first or a second detection waveform on the basis of the vibration component, the opposite phase waveform synthesis portion synthesizes the first detection waveform obtained from the first angular velocity sensor and the second detection waveform obtained from the second angular velocity sensor in such a manner that a phase of the first detection waveform is opposite to that of the second detection waveform, the first detection waveform is generated in accordance with a displacement of the vibrator in the first angular velocity sensor, and the second detection waveform is generated in accordance with a displacement of the vibrator in the second angular velocity sensor, and the anomaly monitoring signal generating and outputting unit generates and outputs an anomaly monitoring signal for monitoring an anomaly of a sensor output on the basis of a synthesized opposite phase waveform synthesized from the first and the second detection waveforms.