Influence Mechanism of Quantization Error on the Key Parameters of the Whole-Angle Hemisphere Resonator Gyroscope

The whole-angle hemispherical resonator gyroscope (WA-HRG) is critical to high-precision attitude control and navigational positioning, boasting significant deployment potential in both highly dynamic inertial navigation systems and industrial instrumentation. This paper presents a mechanistic analysis of quantization error inherent to the HRG's hardware detection and driving circuits, focusing specifically on its impact on parameter calculation and driving control in whole-angle mode. Furthermore, a simulation platform was constructed to verify and elucidate the correlations between the effects of quantization error and key resonator parameters, such as the major axis amplitude and the standing wave azimuth. Compared to existing HRG error studies which frame quantization error as isolated circuit noise, this work uniquely uncovers the azimuth-modulated periodic behavior of quantization error within the WA-HRG. It also formalizes a quantitative relationship between quantization error and the resonator's key parameters, laying a critical theoretical foundation for suppressing quantization error and enhancing accuracy in high-performance WA-HRGs.