前言 半球型谐振式陀螺仪(HRG),是目前国外一种很有发展前途的高精度角速率陀螺仪。从近三十年探索的所有振动陀螺的情况看,半球谐振式陀螺仪是当前速率捷联制导系统中最理想的元件。它的出现使陀螺技术性能徘徊不前的现状推进了一步。与目前的激光陀螺、压电陀螺、机械陀螺、光纤陀螺等相比,具有以下独特的优点:(1)无活动 Foreword Hemispherical resonant gyroscope (HRG), is a very promising high-precision angular rate gyroscope abroad. From all vibrating gyroscopes explored for nearly three decades, hemispherical resonator gyroscopes are the ideal component of the current rate strapdown guidance system. Its emergence makes gyro technology performance stagnated the status quo a step forward. Compared with the current laser gyro, piezoelectric gyro, mechanical gyro, fiber optic gyroscope, etc., has the following unique advantages: (1) no activity