Influence of specific force on output accuracy of hemispherical resonator gyro

In order to analyze the influence of specific force input of nonsensitive X and Y axes on the output accuracy of hemispherical resonator, a ring-shaped model for dynamic motion equation of the hemispherical resonator is applied, and the radial vibration equation of resonator is established. According to the force-rebalance measurement principle of gyroscope, the error of output angular rate is calculated, in view that the center of the circle verge of the resonator is not concentric with the center determined by the actuators and the displacement sensors, and the influence of relative displacement on output results is computed through simulations. The multi-position tumble test about nonsensitive X and Y axes on a horizontal dividing head is also made which verifies that the output contains the errors concerned with the input specific-force of nonsensitive axes.