there is provided a method of sensing a rotation rate using a vibrating structure gyroscope , said gyroscope comprising an electronic control system comprising one or more control loops , wherein at least one of said control loops comprises a filter having a variable time constant , said method comprising the steps of : determining or estimating a characteristic of the vibrating structure of said gyroscope ; and adapting or varying said time constant of said filter with the determined or estimated characteristic of said vibrating structure .