Eigenfrequency is a key parameter for the fiber optic gyroscope (FOG). An eigenfrequency detecting method for FOGs, especially for high-grade FOGs, such as the navigation grade FOGs, is proposed. The eigenfrequency is detected with the sawtooth wave modulation theory. Adjusting the frequency of the sawtooth wave to an even integer of the eigenfrequency, the error signal caused by the sawtooth wave modulation will be zero, then the eigenfrequency can be calculated by the value of the sawtooth wave frequency exactly and the bias modulation frequency is at the eigenfrequency accurately. It is demonstrated experimentally with an FOG, the length of whose sensing coil is about 1200 m, that the accuracy of the eigenfrequency measurement is better than 1.2 ppm (0.1 Hz). With its high accuracy, not only can the frequency of the bias modulation be adjusted to the eigenfrequency precisely, but also this method can be used as an eigenfrequency detector for studying the characteristics of the sensing coil according to the eigenfrequency to study the mechanism of the errors generated in the FOGs.