A gyroscope includes: a support frame; a circular oscillator; a flexible support structure supporting by suspension the circular oscillator to the support frame; a drive mechanism configured to induce the circular oscillator into a two-dimensional driving oscillation; a plurality of movable sections disposed at a perimeter of the circular oscillator; a plurality of digital proximity switches, each disposed near a respective movable section and around the perimeter of the circular oscillator; and a processor. The two-dimensional driving oscillation is modified responsive to an angular rotation of the support frame and the circular oscillator. The processor is operable to determine the position of each movable section, to determine the plurality of variable oscillation parameters for each oscillation of the modified drive oscillation and to determine the angular rotation of the support frame and the circular oscillator via a parametric system identification method.