An absolute steering angle of a steering shaft for a vehicle is measured using rotatable bodies that rotate together with the steering shaft at respective predetermined rotation ratios. A M value is obtained by measuring a relative rotational angle of a first rotatable body and a M value is obtained by measuring the relative rotational angle of a second rotatable body. C's are obtained by calculating relative rotational angles 's of the second rotatable body corresponding to the M value, using the relation between and . A frequency i-value of the first rotatable body is obtained by comparing the Cs to the M value. An absolute steering angle 1 of the steering shaft is obtained based on the relation between absolute rotational angles and , after is obtained using the i-value.

 
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