The error analysis of Hemispherical Resonator Gyro based on a vibration model

Due to the technical limits of the Hemispherical Resonator Gyro (HRG) resonator manufacture, some errors are inevitable which will seriously affect the performance of HRG. Among those errors, the mass unbalance, frequency split and inhomogeneous damping are the main factors resulting in the output drift of HRG. In this paper, resonator vibration equations are transformed into an ellipse precession model based on a mass vibration model. Then, these errors items included in this model which have a strong influence on the vibration mode of the HRG resonator are respectively discussed. The analysis results are validated by the HRG system, which can prove the validity and correctness of the theoretical analysis. All of those conclusions shed light on the further improvement of HRG performance.