Error self-excitation decoupling, calibration and compensation method for full-angle hemispherical resonator gyroscope

The embodiment of the invention relates to a full-angle hemispherical resonator gyroscope error self-excitation decoupling, calibration and compensation method. According to the embodiment of the invention, gyroscope self-excitation operation is taken as a main body, rotary table excitation and static drift measurement are combined, a complete standing wave azimuth angle error evolution model in each operation mode is constructed according to the difference of error influence characteristics in the full-angle hemispherical resonator gyroscope in different excitation modes, and calibration compensation of each error parameter is completed; and the influence of four errors of detection, driving, measurement and control system phase and unequal damping of a vibrator on measurement and control and output of the full-angle hemispherical resonator gyroscope is eliminated. According to the method, the Coriolis vibration characteristic of the full-angle hemispherical resonator gyroscope is fully utilized, the angle d