Abstract: An angular velocity measuring device (1) includes a first sensor (2) (vibration gyro) and a second sensor (3) (gas rate gyro). The detection output of the first sensor (2) is inputted to a high pass filter (4). Output of the filter (4) is stored and held in time series in a memory (10). Subtraction processing means (11) successively executes processing of subtracting the output of the filter (4) ?v?(t?tsd) before a predetermined time tsd from the output of the filter (4) ?v?(1). The value thus obtained is successively added to the output of the second sensor (3) ?g(t) by addition processing means (12) so as to obtain the measurement value of the angular velocity. Thus, it is possible to provide an angular velocity measuring device capable of giving an angular velocity measurement value having a high response and stability at a reasonable cost.

Abstract: An angular velocity measuring device (1) includes a first sensor (2) (vibratory gyroscope) and a second sensor (3) (gas rate gyroscope). A detected output of the first sensor (2) is input to a highpass filter (4) and an output of this filter (4) is stored in the time series into a memory (10). Subtraction means (11) sequentially performs operations of subtracting an output ?v?(t?tsd) of the filter (4) at a time a predetermined time period tsd earlier from an output ?v?(t) of the filter (4), and addition means (12) sequentially adds the value obtained by the above to an output ?g(t) of the second sensor (3), whereby an angular velocity measurement is obtained. Thereby, it is possible to provide an angular velocity measuring device whose angular velocity measurements are high in response and stability at a low price.