a first angular velocity sensor unit; and

a second angular velocity sensor unit, wherein

the second angular velocity sensor unit includes

a vibrator,

a primary side control circuit that has a closed control loop, an output of the closed control loop inducing primary vibration in the vibrator, and

a secondary side control circuit that has a closed control loop for detecting secondary vibration generated in the vibrator due to an angular velocity applied to the vibrator,

the primary side control circuit and the secondary side control circuit are configured so that a function as the primary side control circuit and a function as the secondary side control circuit are interchangeable,

the second angular velocity sensor unit is configured to perform a process of detecting an angular velocity based on the secondary vibration of the vibrator by the secondary side control circuit in a predetermined period and a process of interchanging the function of the primary side control circuit and the function of the secondary side control circuit and detecting an angular velocity based on the secondary vibration of the vibrator by the primary side control circuit,

the first angular velocity sensor unit is configured to detect the angular velocity in the predetermined period and

the vibration-type angular velocity sensor is configured to calculate a bias component of the first angular velocity sensor unit based on a first detection result detected by the first angular velocity sensor unit in the predetermined period and a second detection result detected by the second angular velocity sensor unit in the predetermined period.