Patent ID: 7028548

Claim:
A vibration type angular velocity sensor comprising: first and second sensor units each having a vibrator that oscillates independently in a predetermined standard vibrating direction and a sensing waveform generating section that detects an angular velocity oscillatory component generating in an angular velocity sensing direction differentiated from said standard vibrating direction when an angular velocity is applied to said vibrator, and each waveform generating section also generates an angular velocity sensing waveform based on said angular velocity oscillatory component, said first and second sensor units causing the vibrators to oscillate with mutually opposite phases in said standard vibrating direction so as to cause the respective sensing waveform generating sections to generate first and second angular velocity sensing waveforms having mutually inverted phases, a differential waveform detector for obtaining a differential waveform between said first angular velocity sensing waveform and said second angular velocity waveform so as to cancel in-phase components acting to respective vibrators of said first and second sensor units in said angular velocity sensing direction, and an input gain adjuster for independently and variably adjusting at least one of an input gain of said first angular velocity sensing waveform and an input gain of said second angular velocity sensing waveform entered into said differential waveform detector so as to reduce a residual in-phase component of said differential waveform.