To solve the problem of inconsistency between the test accuracy and the application accu-racy of rate-integrating hemispherical resonantor gyroscope,the basic characteristics of hemispher-ical resonator gyroscope error in rate-integrating mode are studied in detail.The main reason for the above problems is that the existing testing method only considers the stability of gyro bias when the vibration standing wave is at a fixed operating point,without considering the consistency of gyro bias when the standing wave is at different operating points.Furthermore,the bias and scale factor performance of the rate-integrating hemispherical resonantor gyroscope should be eval-uated using a full circumferential approach based on the idea of selecting test method by how it's be used.Corresponding testing methods or ideas are proposed and verified.
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