Force balance hemispherical resonator gyroscope working shaft selection method

The invention discloses a force balance hemispherical resonator gyroscope working shaft selection method, which is characterized in that on one hand, the sensitive angular velocity precision can be well improved through an error identification result, an error compensation scheme and a control scheme; the influence of annular parameter non-uniform errors such as frequency cracking, orthogonal coupling errors and damping non-uniformity on the output precision can be effectively restrained; on the other hand, by detecting the actually compensated electrostatic force in real time, the optimal azimuth angle of the working shaft is selected and determined, and the sensitive angular velocity precision of the gyroscope is further improved. 本发明公开了一种力平衡半球谐振陀螺工作轴选择方法，该方法一方面通过误差辨识结果和误差补偿方案以及控制方案可以很好地提升敏感角速度精度，能够有效遏制频率裂解、正交耦合误差、阻尼不均匀等环向参数不均匀误差对输出精度的影响；另一方面，通过实时检测实际补偿的静电力，选择确定工作轴的最佳方位角，进一步提升陀螺敏感角速度精度。