Abstract: A Coriolis vibratory gyroscope having a resonator with at least a first and a second n=2 vibratory modes of same resonance frequency in a resonator plane; first and second sensing circuits for generating first and second sense signals in response to a motion of the resonator along a major axis of the first and second vibratory modes; a first drive circuit for driving the resonator in the first vibratory mode with a first drive signal; a second drive circuit for simultaneously driving the resonator in the second vibratory mode with a second drive signal; wherein said first signal has a first frequency equal to a resonant frequency of said resonator in said first vibratory mode, and said second signal has the same frequency as the first signal, modulated in amplitude with a second frequency.

Abstract: A CVG having first and second degenerate resonator modes with each a damping rate; drive circuits for causing the resonator to oscillate in the first and second modes in response to first and second drive signals; first and second sense circuits for generating first and second sense signals in response to the resonator oscillating in the first and second modes; a signal processing circuit having control loops for generating the first and second drive signals based on the first and second sense signals; and first and second damping feedback circuits for generating first and second damping feedback signals proportional to the first and second damping rates; an adding the damping feedback signals to the first and second drive signals.