A relative rotational angle of a rotary body is measured with respect to a reference angle. First openings are arranged about the circumference of a disk, which rotates integrally with the rotary body, at predetermined pitches. A first detecting element detects the first openings and generates a first binary code. The relative rotational angle of the rotary body is computed in accordance with the first binary code. A second detecting element detects the second openings and generates a second binary code. The reference angle of the rotary body is computed and reset in accordance with the second binary code. Third openings are concentrical with the first and second openings. A third detecting element detects the third openings and generates a third binary code. The reference angle is determined based on the combination of the first and third binary codes.