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This sensor has been proposed to realize a compact ， high − accuracy ， multi − axis ， and low − cost sensor ． It uti 正 izes the control function ofAMB and works as a two ・ axis gyroscopic sensor and atse as a three − axi ∬ ervo − type accelerometer ． Angular ye 互 ocity measurement is focused in this paper ． Angular velocities are estimated from the control signals for canceiing gyroscopic and inertia 工 torque acting on the shaft of AMB ． In measuring two −axis angular velocity simult 跚 eously ， there is the upPcr limit to the measurement range since the estimat 孟 on equatio 皿

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This paper proposes a new configuration for rotating gyros using magnetic suspension. A rotating gyro based on an active magnetic bearing (AMB-based gyro) has been proposed. However, the miniaturization of the AMB-based gyro is technically difficult because of the limitations on its design and structures.In contrast, the new configuration suits miniaturization because of the simplicity of rotor design. Based on the new concept, a prototype of a new rotating gyro was fabricated. The structure and the principle of angular velocity measurement are presented, as well as the control system of the new gyro. The performance of the closed-loop system is evaluated from a viewpoint of frequency response. In addition, angular velocity measurements are reported.