Abstract: A miniature rate-integrating gyroscope is shown to comprise: an electrical motor (whose rotor, when rotating, constitutes a gyroscopic mass) mounted in a single degree of motion gimbal within a cylindrical case; a motion sensor to determine any rotation of such gimbal with respect to such case, such sensor including a transformer having a primary winding and a secondary winding movable with respect to each other so that the phase difference between alternating signals in the primary and secondary windings is analogous to such rotation; phase detecting circuitry to produce a control signal representative of such phase difference; a torque generator responsive to the control signal to null any rotation of such gimbal; and a fluid damper to critically damp any rotation of such gimbal.