The method of improving hemispherical resonator gyro's accuracy under open-loop positional excitation mode

The force equilibrium equations of the resonator were established, then the dynamics equations of resonator with the density distributed nonuniformity were established by way of Bubonov-Galerkin method which is common used for solution of differential equations. The azimuth of normal-mode axis on the hemispherical resonator was given through the dynamics equations, and then aligning the excitation electrode to the azimuth of normal-mode axis under open-loop positional excitation mode. After that, the azimuth of radial vibration antinode on the hemispherical resonator was achieved by solving the dynamics equations, thus the expressions of the angular rate estimate and the angular rate estimate error of HRG were got. Through simulation, it is proved that the method proposed in this paper improves greatly HRG's accuracy.