Online identification and compensation for damping non-uniformity of hemispherical resonator gyroscope

Benefiting from its core advantages of high precision, long service life, and high reliability, the hemispherical resonator gyroscope (HRG) has become a core sensor for the new-generation inertial measurement systems in aerospace, marine navigation, and other fields. Its performance directly relies on the ideal axisymmetric precession characteristics of the standing wave in the hemispherical resonator. To address the problem of circumferential damping non-uniformity, an online identification method for damping parameters and damping axes based on the gradient descent algorithm is proposed, aiming to reduce the standing wave drift induced by damping anisotropy. Systematic verification of the error identification and compensation method for damping non-uniformity was conducted through simulations and physical experiments, which significantly reduced the bias instability error of the gyroscope.