JPH11142162A - Vibrational gyro - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a vibrational gyro having stable sensitivity-temp. characteristics and good temp. drift characteristics. SOLUTION: The vibrational gyro comprises a vibrator 12 having piezoelectric elements 16a, 16b connected to the inputs 20a, 20b of a summing amplifier 20 forming a part of feedback loop. This amplifier 20 uses an operational amplifier with a positive-temp. coefficient thermistor connected between the output and inverted input of the amplifier as a corrector element for correcting the sensitivity-temp. characteristics. The summing amplifier circuit 20 is connected at the output 20c to one input of a phase shifter circuit 22 forming another part of the feedback loop and also to other input of the phase shifter circuit 22 through an AGC circuit 24. The output of the phase shifter circuit 22 is connected to a piezoelectric element 16c of the vibrator 12.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vibrating gyroscope, and more particularly to, for example, a navigation system that detects a position of a moving body by detecting a rotational angular velocity and performs appropriate guidance, or a rotational angular velocity due to external vibration such as camera shake. The present invention relates to a vibration gyro that can be applied to a vibration isolation system such as a camera shake prevention device that detects and appropriately controls vibration.

[0002]

2. Description of the Related Art An example of a conventional vibration gyro is disclosed in, for example, Japanese Patent Application Laid-Open No. Hei 7-239232. FIG. 15 is an illustrative view showing one example of such a conventional vibrating gyroscope. The vibrating gyroscope 1 shown in FIG. 15 includes a columnar vibrator 2, and the vibrator 2 has two detection terminals 3 a and 3 b and one drive terminal 4. Two detection terminals 3a of the vibrator 2
And 3b are respectively connected to two input terminals of an addition amplification circuit 6 via a temperature compensation circuit 5 for correcting a sensitivity temperature characteristic. An output terminal of the addition amplification circuit 6 is connected to an input terminal of the phase shift circuit 7. The output terminal of the phase shift circuit 7 is connected to the drive terminal 4 of the vibrator 2. Further, 2 of the vibrator 2
The two detection terminals 3a and 3b are connected to two input terminals of the differential amplifier circuit 8 via the temperature compensation circuit 5, respectively. An output terminal of the differential amplifier circuit 8 is connected to one input terminal of the synchronous detection circuit 9. The other input terminal of the synchronous detection circuit 9 is connected to the output terminal of the addition amplification circuit 6.

In the vibrating gyroscope 1 shown in FIG. 15, when a drive signal output from a phase shift circuit 7 is applied to a drive terminal 4 of the vibrator 2, the vibrator 2 bends and vibrates. In this state,
When the vibrating gyroscope 1 rotates about the central axis of the vibrator 2, the direction of the bending vibration of the vibrator 2 changes due to the Coriolis force, and a detection signal corresponding to the rotational angular velocity is obtained between the two detection terminals 3a and 3b. Can be This detection signal is detected by the differential amplifier circuit 8 via the temperature compensation circuit 5. The output signal of the differential amplifier circuit 8, that is, the detection signal is
Thus, the signal is detected in synchronization with the synchronization signal output from the addition amplification circuit 6. Therefore, in the vibration gyro 1, the rotational angular velocity can be detected from the output signal of the synchronous detection circuit 9. The drive signal supplied to the drive terminal 4 of the vibrator 2 is a signal obtained by adjusting the phase of the signal output from the addition amplification circuit 6 by the phase shift circuit 7. The synchronization signal output from the addition amplification circuit 6 is a signal obtained by adding and amplifying the signals output from the two detection terminals 3 a and 3 b of the vibrator 2 via the temperature compensation circuit 5 in the addition amplification circuit 6. It is.

In the vibrating gyroscope 1 shown in FIG. 15, negative temperature thermistors 5a and 5b and resistors 5c, 5d, 5e and 5f are combined as a temperature compensating circuit 5, and an appropriate value is used as a load of the vibrator 2. Accordingly, there is an effect that the fluctuation of the sensitivity caused by the mechanical sharpness Q of the vibrator 2 changing at each temperature is corrected, and the sensitivity is kept constant at each temperature.

[0005]

However, in the vibrating gyroscope 1 shown in FIG. 15, two detecting terminals 3a of the vibrator 2 are provided.
And 3b, the temperature compensating circuit 5 is connected, so that the capacitance component and the impedance on the two detection terminals 3a and 3b side of the vibrator 2 fluctuate due to the temperature change. Therefore, in the vibration gyro 1, the phase of the signal output from the two detection terminals 3 a and 3 b of the vibrator 2 to the addition amplification circuit 6 via the temperature compensation circuit 5 varies due to the temperature change, and the addition amplification circuit The phase of the synchronizing signal output from 6 changes, and the temperature drift characteristic of the conventional example shown in FIG. 15 deteriorates as shown in FIG. 16 as shown in FIG. FIG. 16 also shows the temperature drift characteristics of a vibrating gyroscope having no temperature compensation circuit as the temperature drift characteristics of the comparative example. On the other hand, in the comparative example having no temperature compensation circuit, the temperature drift characteristic is good, but the sensitivity temperature characteristic is not stable.

[0006] Therefore, a main object of the present invention is to provide a vibrating gyroscope having stable sensitivity temperature characteristics and good temperature drift characteristics.

[0007]

A vibrating gyroscope according to the present invention includes a columnar vibrator, a feedback loop connected to the vibrator and vibrating the vibrator, and a feedback loop connected to the feedback loop to vibrate the vibrator. And an AGC circuit for stabilizing the impedance without changing the impedance on the oscillator side.
This is a vibration gyro provided with a correction element for correcting a sensitivity temperature characteristic in a feedback loop. In the vibration gyro according to the present invention, for example, a positive characteristic thermistor, a positive characteristic thermistor and a resistor, a negative characteristic thermistor and a resistor, or a plurality of negative characteristic thermistors and a plurality of resistors are used as correction elements.

In the vibrating gyroscope according to the present invention, AG
The vibration of the vibrator is stabilized by the C circuit. Also,
In the vibrating gyroscope according to the present invention, since a correction element for correcting the sensitivity temperature characteristic is provided in the feedback loop, a stable sensitivity temperature characteristic can be obtained. Further, in the vibrating gyroscope according to the present invention, since the correction element for correcting the sensitivity temperature characteristic is provided in the feedback loop without changing the impedance on the vibrator side, the impedance on the vibrator side is kept constant. The temperature drift characteristics are improved.

The above and other objects, features and advantages of the present invention will become more apparent from the following detailed description of embodiments of the present invention with reference to the accompanying drawings.

[0010]

FIG. 1 is an illustrative view showing one example of a vibrating gyroscope according to the present invention. The vibrating gyroscope 10 shown in FIG.

The vibrator 12 includes a regular triangular prism-shaped vibrator 14 made of a constant elastic metal material such as an elinvar.
At approximately the center of the three side surfaces of the vibrating body 14, three piezoelectric elements 16a, 16b and 16c are respectively formed.
Each of these piezoelectric elements 16a to 16c has electrodes formed on both surfaces of a piezoelectric layer made of a piezoelectric ceramic, and the electrodes on one surface are bonded to the side surfaces of the vibrator 14, and the electrodes on the other surface are Used for input and output.

In this vibrator 12, for example, two piezoelectric elements 16a and 16b are used as feedback and detection elements, and another piezoelectric element 16c is used as a driving element. Therefore, the two piezoelectric elements 16a
And 16b are respectively connected to two inputs 20a and 20b of a summing amplifier 20 which is a part of a feedback loop.

The addition amplification circuit 20 has two input terminals 20a.
And 20b and one output terminal 20c, for example, as shown in FIG. 2, two input terminals 20a and 20b.
Are connected to one ends of two resistors 20d and 20e, respectively. The other ends of these resistors 20d and 20e are
It is connected to the inverting input terminal of the operational amplifier 20f. A non-inverting input terminal of the operational amplifier 20f is supplied with, for example, a half of the power supply voltage as a reference potential. Operational amplifier 2
A positive temperature coefficient thermistor 20g as a correction element for correcting the sensitivity temperature characteristic is provided between the output terminal of the output terminal 0f and the inverting input terminal.
Is connected. The output terminal of the operational amplifier 20f is the output terminal 2
0c. The summing amplifier circuit 20 includes the vibrator 1
2 for adding and amplifying signals output from the two piezoelectric elements 16a and 16b. In addition, in the addition amplification circuit 20, the resistance value of the positive characteristic thermistor 20g connected between the output terminal and the inverting input terminal of the operational amplifier 20f increases as the temperature rises, so that the amplification factor increases.

The output terminal 20c of the addition amplification circuit 20 is connected to the
As shown in the figure, the phase shift circuit 2 which is another part of the feedback loop
2 is connected to one input terminal. The output terminal of the phase shift circuit 22 is connected to the piezoelectric element 16c of the vibrator 12. The phase shift circuit 22 is for adjusting the phase of the signal output from the addition amplification circuit 20 and outputting a drive signal for driving the vibrator 12.

Further, the output terminal 20c of the addition amplification circuit 20
Is connected to the input terminal of the AGC circuit 24. The output terminal of the AGC circuit 24 is connected to the other input terminal of the phase shift circuit 22. The AGC circuit 24 controls the amplification factor of the phase shift circuit 22 in order to stabilize the vibration of the vibrator 12, that is, to keep the amplitude of the signal output from the addition amplification circuit 20 constant. It is. Specifically, the AGC circuit 24 reduces the amplification factor of the phase shift circuit 22 when the amplitude of the signal output from the addition amplification circuit 20 is about to increase, and reduces the amplitude of the signal output from the addition amplification circuit 20. Is to be reduced, the amplification factor of the phase shift circuit 22 is increased.

The two piezoelectric elements 16a of the vibrator 12
And 16b are two buffer circuits 30a and 30
b, respectively. These buffer circuits 30a and 30b are for changing the impedance of each signal output from the two piezoelectric elements 16a and 16b to a very small impedance.

The output terminals of the two buffer circuits 30a and 30b are connected to the two input terminals of the differential amplifier circuit 32, respectively. The differential amplifier circuit 32 detects a difference between signals output from the two buffer circuits 30a and 30b.

The output terminal of the differential amplifier circuit 32 is connected to one input terminal of a synchronous detection circuit 34. Synchronous detection circuit 34
Is connected to the output terminal 20c of the addition amplification circuit 20.
Is connected. The synchronous detection circuit 34 includes the differential amplification circuit 32
Is detected in synchronization with the synchronization signal output from the addition amplification circuit 20.

The output terminal of the synchronous detection circuit 34 is connected to the smoothing circuit 3
6 is connected to the input terminal. The smoothing circuit 36 is for smoothing the signal output from the synchronous detection circuit 34.

The output terminal of the smoothing circuit 36 is connected to the DC amplifier 3
8 input terminals. The DC amplifier circuit 38 is for amplifying the signal output from the smoothing circuit 36.

In the vibration gyro 10, the phase shift circuit 22
Is output from the piezoelectric element 16c of the vibrator 12.
, The vibrator 12 bends and vibrates in a direction perpendicular to the surface of the piezoelectric element 16c. In this state, if the vibrating gyroscope 10 rotates about the central axis of the vibrator 12, the direction of the bending vibration of the vibrator 12 changes due to the Coriolis force.
A detection signal corresponding to the rotational angular velocity is obtained between the two piezoelectric elements 16a and 16b. This detection signal is output to the buffer circuit 3
The signal is detected by the differential amplifier circuit 32 via 0a and 30b. The output signal of the differential amplifier circuit 32, that is, the detection signal, is detected by the synchronous detection circuit 34 in synchronization with the synchronous signal output from the addition amplification circuit 20. Then, the output signal of the synchronous detection circuit 34 is smoothed by the smoothing circuit 36, and the output signal of the smoothing circuit 36 is amplified by the DC amplifier circuit 38. Therefore, in the vibrating gyroscope 10, the rotational angular velocity can be detected from the output signal of the DC amplifier circuit 38. The drive signal given to the piezoelectric element 16 c of the vibrator 12 is a signal obtained by adjusting the phase of the signal output from the addition amplification circuit 20 by the phase shift circuit 22. Also,
The synchronization signal output from the addition amplification circuit 20 is the oscillator 1
2 is a signal obtained by adding and amplifying signals output from the two piezoelectric elements 16a and 16b by the addition amplifier circuit 20.

In the vibrating gyroscope 10, in order to stabilize the vibration of the vibrator 12, that is,
The gain of the phase shift circuit 22 is controlled by the AGC circuit 24 in order to keep the amplitude of the signal output from the AGC circuit constant. Further, in the vibration gyro 10, a positive characteristic thermistor 20 g as a correction element for correcting the sensitivity temperature characteristic is provided in the addition amplification circuit 20. Therefore, in the vibrating gyroscope 10, stable sensitivity temperature characteristics can be obtained.
FIG. 3 shows sensitivity temperature characteristics of the vibrating gyroscope 10. As shown in FIG.

FIG. 3 also shows a sensitivity temperature characteristic of a comparative example in which the positive temperature coefficient thermistor 20g in the vibrating gyroscope 10 is replaced with a resistor. In the comparative example, it can be seen from the sensitivity temperature characteristics shown in FIG. 3 that the sensitivity increases as the temperature increases and the sensitivity temperature characteristics are not stable.

On the other hand, in the vibrating gyroscope 10, the resistance value of the positive temperature coefficient thermistor 20g increases as the temperature rises, and the amplification factor of the addition amplifier circuit 20 increases. For this reason, as the temperature rises, the AGC circuit 24 controls the amplification factor of the phase shift circuit 22 to decrease, and the amplitude of the drive signal decreases.
And the amplitude of the signal output from the two piezoelectric elements 16a and 16b of the vibrator 12 decreases. As a result, the output signals of the differential amplifier circuit 32, the synchronous detection circuit 34, the smoothing circuit 36, and the DC amplifier circuit 38 are stabilized, and the sensitivity is stabilized.

It is known that the Coriolis force acting on the vibrator 12 is proportional to the amplitude of the bending vibration of the vibrator 12, as shown in the following equation (1). F = 2mv = 2mA / f (1) In equation (1), F is a Coriolis force acting on the vibrator 12,
m is the mass of the vibrator 12, v is the speed due to the rotation of the vibrator 12, A is the amplitude of the bending vibration of the vibrator 12, and f is the vibrator 12
Shows the vibration frequency of the bending vibration. This vibrating gyro 10
For example, when the resistance of the positive temperature coefficient thermistor 20g serving as a correction element increases due to a temperature rise, the addition amplification circuit 2
Since the amplification factor of 0 increases, the amplitude A of the bending vibration of the vibrator 12 decreases so that the amplitude of the signal output from the addition amplification circuit 20 becomes constant, and the right side of the equation (1) decreases. The Coriolis force F on the left side of equation (1) decreases. By properly selecting the value of the correction element, the sensitivity temperature characteristic can be stabilized.

On the other hand, when the temperature decreases, the sensitivity decreases in the comparative example. However, in the vibrating gyroscope 10, the resistance value of the positive characteristic thermistor 20g decreases, and the amplification factor of the addition amplifier circuit 20 decreases. The amplification factor of the phase shift circuit 22 is increased, and as a result, the output signal is stabilized and the sensitivity is stabilized.

Further, in the vibrating gyroscope 10, since the positive characteristic thermistor 20g for correcting the sensitivity temperature characteristic is provided in the addition amplifier circuit 20 without changing the impedance on the vibrator 12, the vibrating gyroscope 10 has The impedance on the side is kept constant, and the temperature drift characteristics are improved. FIG. 4 shows the temperature drift characteristics of the vibrating gyroscope 10. FIG. 4 also shows a temperature drift characteristic of a comparative example in which the positive temperature coefficient thermistor 20g in the vibration gyro 10 is replaced with a resistor.

FIG. 5 is a circuit diagram showing another example of the addition amplification circuit used in the vibration gyro shown in FIG. In the addition amplification circuit shown in FIG. 5, a resistor 20h serving as a correction element further includes an operational amplifier 2 compared with the addition amplification circuit shown in FIG.
0f is connected between the non-inverting input terminal and the inverting input terminal.
Therefore, in the addition amplification circuit shown in FIG. 5, the amplification factor is further increased as the temperature rises, as compared with the addition amplification circuit shown in FIG. Therefore, when the addition amplifier circuit shown in FIG. 5 is used in the vibration gyro shown in FIG. 1, the sensitivity temperature characteristic is more stable as compared with the comparative example as shown in FIG. 6, and the temperature drift characteristic is as shown in FIG. It becomes even better as compared with the comparative example.

FIG. 8 is a circuit diagram showing still another example of the addition amplification circuit used in the vibration gyro shown in FIG. In the addition amplification circuit shown in FIG. 8, a positive temperature coefficient thermistor is not connected between the output terminal and the inversion input terminal of the operational amplifier 20f, as compared with the addition amplification circuit shown in FIG. A negative characteristic thermistor 20i serving as a correction element is connected between the inverting input terminal and the inverting input terminal.
A resistor 20j serving as a correction element is further connected between the output terminal and the inverting input terminal of the operational amplifier 20f. In the addition amplifier circuit shown in FIG. 8, the operational amplifier 2
The resistance value of the negative characteristic thermistor 20i connected between the non-inverting input terminal of 0f and the inverting input terminal is reduced. Therefore, in the addition amplification circuit shown in FIG. 8, the amplification factor is further increased as the temperature rises, as compared with the addition amplification circuit shown in FIG. Therefore, when the addition amplifier circuit shown in FIG. 8 is used in the vibration gyro shown in FIG. 1, the sensitivity temperature characteristic is more stable as compared with the comparative example as shown in FIG. 9, and the temperature drift characteristic is as shown in FIG. It becomes even better as compared with the comparative example.

FIG. 11 is a circuit diagram showing still another example of the addition amplification circuit used in the vibration gyro shown in FIG.
In the addition amplifier circuit shown in FIG. 11, a positive temperature coefficient thermistor is not connected between the output terminal and the inversion input terminal of the operational amplifier 20f, as compared with the addition amplifier circuit shown in FIG. A negative characteristic thermistor 20k and a series circuit of a resistor 20l and a resistor 20m are connected as a correction element between the inverting input terminal and a negative characteristic thermistor 20n between the output terminal of the operational amplifier 20f and the inverting input terminal. And a parallel circuit of a resistor 20o is further connected as a correction element. In the addition amplification circuit shown in FIG. 11, the negative characteristic thermistor 2
The resistance values of 0k and 20n decrease. Therefore, in the addition amplification circuit shown in FIG. 11, the amplification factor further increases as the temperature rises. Therefore, when the addition amplifier circuit shown in FIG. 11 is used in the vibration gyro shown in FIG. 1, the sensitivity temperature characteristic is more stable as compared with the comparative example as shown in FIG. 12, and the temperature drift characteristic is as shown in FIG. It becomes even better as compared with the comparative example.

The above-mentioned vibration gyro has one driving piezoelectric element and two feedback and detection piezoelectric elements. However, in the above-mentioned vibration gyro, one driving piezoelectric element is removed and the other two piezoelectric elements are removed. One piezoelectric element may be used as a driving element.

The present invention is also applicable to a vibrating gyroscope in which two driving piezoelectric elements and two feedback and detecting piezoelectric elements are formed on four sides of a regular quadrangular prism-shaped vibrating body. Can be done.

Further, in the present invention, the vibrating body may be formed in another columnar shape such as a regular hexagonal column, a column, or the like.

In the above-mentioned vibrating gyroscope, the vibrating body is formed of metal and the driving, feedback and detecting elements are formed of piezoelectric elements.
The vibrating body may be formed of a piezoelectric body, and the driving, feedback, and detecting elements may be formed of electrodes.

FIG. 14 is an illustrative view showing another example of the vibrator used in the vibrating gyroscope according to the present invention. FIG.
The vibrator 12 includes a vibrating body 14 having a regular quadrangular prism shape.
The vibrating body 14 is a strip-shaped first piezoelectric substrate 1 to be laminated.
5a and a second piezoelectric substrate 15b. The first piezoelectric substrate 15a and the second piezoelectric substrate 15b are polarized in opposite thickness directions. On the main surface of the first piezoelectric substrate 15a, two divided electrodes 1 are spaced apart in the width direction.
7a and 17b are formed. The common electrode 18 is formed on the main surface of the second piezoelectric substrate 15b. Further, the first piezoelectric substrate 15a and the second piezoelectric substrate 1
A dummy electrode 19 is formed between 5b. The vibrator 12 shown in FIG. 14 is, for example, a vibrating gyroscope 1 shown in FIG.
Used for 0. In this case, the split electrodes 17a and 17b
Are used as feedback and detection elements, and are connected to the two input terminals 20a and 20b of the addition amplification circuit 20, respectively. Further, the common electrode 18 is used as a driving element and is connected to an output terminal of the phase shift circuit 22. Further, split electrodes 17a and 17b are connected to input terminals of two buffer circuits 30a and 30b, respectively.

[0036]

According to the present invention, a vibration gyro having stable sensitivity temperature characteristics and good temperature drift characteristics can be obtained.

[Brief description of the drawings]

FIG. 1 is an illustrative view showing one example of a vibrating gyroscope according to the present invention;

FIG. 2 is a circuit diagram showing an example of an addition amplification circuit used in the vibration gyro shown in FIG.

FIG. 3 is a graph showing sensitivity temperature characteristics in a case where the addition amplifying circuit shown in FIG. 2 is used in the vibration gyro shown in FIG. 1 and sensitivity temperature characteristics of a comparative example.

4 is a graph showing a temperature drift characteristic in a case where the addition amplifying circuit shown in FIG. 2 is used in the vibration gyro shown in FIG. 1 and a temperature drift characteristic of a comparative example.

FIG. 5 is a circuit diagram showing another example of the addition amplification circuit used in the vibration gyro shown in FIG. 1;

6 is a graph showing sensitivity temperature characteristics in a case where the addition amplifier circuit shown in FIG. 5 is used in the vibration gyro shown in FIG. 1 and sensitivity temperature characteristics of a comparative example.

7 is a graph showing a temperature drift characteristic when the addition amplifying circuit shown in FIG. 5 is used in the vibration gyro shown in FIG. 1 and a temperature drift characteristic of a comparative example.

8 is a circuit diagram showing still another example of the addition amplification circuit used in the vibration gyro shown in FIG.

9 is a graph showing sensitivity temperature characteristics when the addition amplifying circuit shown in FIG. 8 is used in the vibration gyro shown in FIG. 1 and sensitivity temperature characteristics of a comparative example.

10 is a graph showing a temperature drift characteristic when the addition amplifying circuit shown in FIG. 8 is used in the vibration gyro shown in FIG. 1 and a temperature drift characteristic of a comparative example.

11 is a circuit diagram showing still another example of the addition amplification circuit used in the vibration gyro shown in FIG.

12 is a graph showing sensitivity temperature characteristics when the addition amplifying circuit shown in FIG. 11 is used in the vibration gyro shown in FIG. 1 and sensitivity temperature characteristics of a comparative example.

13 is a graph showing a temperature drift characteristic when the addition amplifying circuit shown in FIG. 11 is used in the vibration gyro shown in FIG. 1 and a temperature drift characteristic of a comparative example.

FIG. 14 is an illustrative view showing another example of the vibrator used in the vibrating gyroscope according to the present invention;

FIG. 15 is an illustrative view showing one example of a conventional vibration gyro;

16 is a graph showing the temperature drift characteristics of the conventional example shown in FIG. 15 and the temperature drift characteristics of the comparative example.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 10 Vibration gyroscope 12 Vibrator 14 Vibration body 16a, 16b, 16c Piezoelectric element 20 Addition amplification circuit 20a, 20b Input terminal 20c Output terminal 20d, 20e, 20h, 20j, 201, 20m, 2
0o resistance 20f operational amplifier 20g positive characteristic thermistor 20i, 20k, 20n negative characteristic thermistor 22 phase shift circuit 24 AGC circuit 30a, 30b buffer circuit 32 differential amplifier circuit 34 synchronous detection circuit 36 smoothing circuit 38 DC amplifier circuit

Claims (5)

[Claims] 1. A columnar vibrator, a feedback loop connected to the vibrator for vibrating the vibrator, and an AGC circuit connected to the feedback loop for stabilizing the vibration of the vibrator. Including, without changing the impedance of the vibrator side,
A vibrating gyroscope, wherein a correction element for correcting a sensitivity temperature characteristic is provided in the feedback loop. 2. The vibrating gyroscope according to claim 1, wherein the correction element includes a positive temperature coefficient thermistor. 3. The vibrating gyroscope according to claim 1, wherein the correction element includes a positive temperature coefficient thermistor and a resistor. 4. The vibrating gyroscope according to claim 1, wherein the correction element includes a negative temperature coefficient thermistor and a resistor. 5. The vibrating gyroscope according to claim 1, wherein the correction element includes a plurality of negative characteristic thermistors and a plurality of resistors.