Scale error compensation method for full-angle-mode hemispherical resonator gyroscope

The invention relates to the technical field of gyroscopes, in particular to a scale error compensation method for a full-angle-mode hemispherical resonator gyroscope, which comprises the following steps: fixing the hemispherical resonator gyroscope on a rotary table, and enabling a sensitive shaft to coincide with a rotary shaft of the rotary table; operating the turntable to rotate at a constant speed at a preset angular speed in forward and reverse directions, and recording a corresponding frequency angular speed output signal sequence and a vibration mode angle output signal sequence; calculating a scale factor sequence of the hemispherical resonator gyroscope; calculating a scale error compensation coefficient; and binding the scale error compensation coefficient to a hemispherical resonator gyroscope scale factor compensation module to complete scale error compensation of the full-angle mode hemispherical resonator gyroscope. According to the method provided by the invention, the scale error changing al