A resonator fiber optic gyroscope (RFOG) is provided. The RFOG includes a gyroscope resonator having a clockwise input port and a counter-clockwise input port; a first laser configured to couple a clockwise optical beam into to the clockwise input port; a clockwise Pound-Drever-Hall modulation generator to modulate the clockwise optical beam with a resonance tracking modulation before the clockwise optical beam is coupled into the clockwise input port; bias correction electronics; FSR-detection-and-servo electronics including a switch communicatively coupled to the clockwise Pound-Drever-Hall modulation generator; a clockwise transmission detector configured to receive an optical beam output from the counter-clockwise input port and output signals to the bias correction electronics and the FSR-detection-and-servo electronics; and a second laser configured to couple a counter-clockwise optical beam into to the counter-clockwise input port, wherein the FSR of the gyroscope resonator is measured based on the Pound-Drever-Hall modulation of the clockwise optical beam.