Method and device for generating virtual Coriolis effect of hemispherical resonator gyroscope

The embodiment of the invention discloses a method and a device for generating a virtual Coriolis effect of a hemispherical resonator gyroscope. The method comprises the following steps: extracting driving modal vibration speed information of a harmonic oscillator; generating a virtual Coriolis force according to the driving mode vibration speed information; the virtual Coriolis force acts on the detection mode, so that the gyroscope completes switching from an open-loop mode without external angular velocity input to a full-angle mode with the detection mode affected by the virtual Coriolis force. According to the method, the problems that the error characteristic of the hemispherical resonator gyroscope is greatly different from that of a traditional gyroscope, and a calibration and compensation method is difficult to solve, so that the rate integration hemispherical resonator gyroscope has a sensitive angular velocity dead zone and an angle-dependent drift error component exists in the output angular veloc