Abstract: A rate sensing device includes a cylindrical vibratory resonator, a hemispherical vibratory resonator or a substantially planar vibratory resonator (1) having a substantially ring or hoop-like shape structure, which resonators have inner and outer peripheries extending around a common axis (2), first carrier mode drive means (18) for causing the resonator (1) to vibrate in a Cos n1? carrier mode to provide a first rate sensing channel along the common axis (2), where n1 has an integer value of 2 or more, and second carrier mode drive means (19) for causing the resonator (1) to vibrate in a Cos n2? carrier mode to provide a second rate sensing channel along the common axis (2) where n2 has an integer value of 2 or more and where n2 is not equal to n1, which first and second rate sensing channels are independent of one another and operate over different rate ranges where the rate range increases for higher values of n1 and n2.