Abstract: In view of the complex signal processing and control process in the whole angle mode control method of hemispherical resonator gyro (HRG), a high precision digital solution has a direct impact on the whole angle mode control and gyro accuracy. The whole angle mode control method of HRG is studied. Taking the non ideal hemispherical resonator as the control object, a whole angle mode control scheme of HRG is proposed. A digital demodulation method based on Kalman filter is proposed to solve the problem of high precision demodulation of signals. By building the whole angle control system model, the simulation results show that the control system can realize fast demodulation and stable control, and verify the feasibility of the digital demodulation scheme and whole angle control scheme.

Key words: hemispherical resonator gyro (HRG), whole angel (WA) mode, Kalman filter demodulation, system simulation