A passive resonant optical gyroscope comprising a cavity and operating with three frequencies comprises: a first injecting laser to inject a first optical beam into the cavity in a first direction; a second injecting laser to inject a second optical beam into the cavity in an opposite direction; a third injecting laser to inject a third optical beam into the cavity in one of the aforementioned directions, one laser amongst the injecting lasers having a master frequency, the two other injecting lasers, called the first and second slave lasers, respectively having a first slave frequency and a second slave frequency; a master servocontrol device; a first servocontrol stage comprising first and second slave devices; and a second servocontrol stage comprising first and second optical phase-locking devices respectively comprising a first and second slave oscillator to generate a first radiofrequency offset signal and a second radiofrequency offset signal.