Quadrature control principle of hemispherical resonator gyro

The dynamics equations of resonator were established and the solutions of the dynamics equations under quadrature control mode and quasi quadrature control mode were achieved, then the relations between the excitation and the input angular rate were derived under both modes. By comparing and analyzing, the simplicity and the practicability of the quasi quadrature control mode were better than that of the quadrature control mode. Finally, the method of greatly improving HRG´s accuracy under quasi quadrature control was achieved.