A High-Performance Rate-Integrating Hemispherical Resonant Gyros with 0.00753°/h Bias Instability

This paper reports a high performance rate-integrating Hemispherical Resonant Gyroscope (HRG). After the compensation on the anisostiffness, anisodamping and detection and actuation gain errors, the frequency mismatch and angle-dependent bias drift (ADB) of HRG reduce about 85% from 2mHz to 0.3mHz and 78% from 0.01°/s to 0.0022°/s, respectively. Finally, HRG shows excellent bias instability of 0.00753°/h, high input range of over ±2600°/s with small nonlinearity of 17ppm and a threshold value of less than ±0.001°/s.