Abstract: Method for measuring an angular velocity and/or position comprising: (a) receiving first and second detection signals regarding a vibration from primary and secondary resonance modes of a resonator; (b) implementing at least four control loops using first, second, third and fourth regulators, respectively; and (c) estimating said angular velocity and/or position, as a function of regulator outputs. The first regulator aims at minimizing the difference between the in-phase component of the first detection signal and the product, by a first coefficient C1 that is a function of the azimuthal angle ? in the orthogonal modal base of primary and secondary modes, of a setpoint vibration amplitude of the resonator. The third regulator aims at minimizing the difference between the in-phase component of the second detection signal and the product, by a second coefficient C2 that is a function of ? and the setpoint vibration amplitude. Also, associated gyroscope sensors.