Dynamic error mechanism analysis of HRG

The strains of an arbitrary point on the resonator of the hemispherical resonator gyro are deduced under Kirchhoff-Lyav hypothesis. The force equilibrium equations of the thin shell element are established on the basis of the calculated strains. When the gyro is subjected to three-axis angular rates and angular accelerations, the inertia force is calculated and the border motion equations of the hemispherical resonator are established, the solution of the dynamic equation is gained using Bubonov-Galerkin method. In the end, the dynamical error model of gyro is attained, the influence of angular rate and angular acceleration on the accuracy of the gyro is analyzed when the gyro bearing three-axis angular rates and angular accelerations.