Abstract: Abstract：Variation of temperature has a strong effect on Hemispherical Resonator Gyro（HRG）output. In this paper, we propose a selfcompensation scheme based on the drivemode resonant frequency. The analysis of relationship between resonant frequency and temperature is used to illustrate the feasibility of frequency used as temperature. The bias temperature drift mode is established and the drivemode resonant frequency is used to compensate the bias drift real timely. The resolution of the resonant frequency is 0.03 Hz which means a resolution of 0.075 ℃ for temperature. The selfcompensation yielded a total bias error of 2.8（°）/h over temperature range of -10 ℃~60 ℃, corresponding to a 30（°）/h bias error before compensation. These results show that the scheme is valid.  

Key words: Keywords：hemispherical resonator gyro, bias drift, selfcompensation