Research on the Precession Characteristics of Hemispherical Resonator Gyro

<div>The relation between <svg height="9.39034pt" id="M90" style="vertical-align:-3.42943pt" version="1.1" viewbox="-0.0498162 -5.96091 12.369 9.39034" width="12.369pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M559 271C559 395 493 448 433 448C370 448 304 394 275 297C259 245 235 121 219 37C157 54 113 110 113 201C113 310 180 386 276 429L265 457C131 410 23 326 23 186C23 83 86 5 211 -10C180 -159 167 -220 158 -252L165 -261C198 -255 236 -246 251 -218L287 -5C421 9 559 119 559 271ZM484 273C484 144 400 40 293 33L352 331C364 389 382 406 405 406C431 406 484 370 484 273Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,7.241,3.132)"><path d="M248 635C97 635 43 457 43 311C43 153 97 -12 247 -12S450 166 450 312C450 466 397 635 248 635ZM246 603C337 603 361 452 361 312S337 20 248 20S132 172 132 313C132 452 156 603 246 603Z"></path></g></svg> and <i>K</i> (<span class="nowrap"><svg height="13.3173pt" id="M91" style="vertical-align:-3.42941pt" version="1.1" viewbox="-0.0498162 -9.88789 46.1722 13.3173" width="46.1722pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M559 271C559 395 493 448 433 448C370 448 304 394 275 297C259 245 235 121 219 37C157 54 113 110 113 201C113 310 180 386 276 429L265 457C131 410 23 326 23 186C23 83 86 5 211 -10C180 -159 167 -220 158 -252L165 -261C198 -255 236 -246 251 -218L287 -5C421 9 559 119 559 271ZM484 273C484 144 400 40 293 33L352 331C364 389 382 406 405 406C431 406 484 370 484 273Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,7.241,3.132)"><path d="M606 650H137L129 618C217 609 221 609 203 518L129 129C115 46 106 40 26 32L18 0H300L307 32C210 40 203 45 218 129L249 305H358C454 305 455 296 457 219H491L531 425H497C465 353 463 350 366 350H259L300 569C306 605 310 611 346 611H444C522 611 535 598 541 578C550 557 553 519 552 485L588 489L606 650Z"></path></g><g transform="matrix(.013,0,0,-0.013,16.988,0)"><path d="M535 323V373H52V323H535ZM535 138V188H52V138H535Z"></path></g><g transform="matrix(.013,0,0,-0.013,28.251,0)"><path d="M244 635C114 635 38 519 38 422C38 317 111 240 217 240C236 240 255 244 277 256L345 292C311 140 203 39 59 15L64 -15C89 -15 150 -5 204 17C339 72 440 202 440 386C440 521 368 635 244 635ZM228 602C326 602 352 479 352 390C352 370 351 347 348 324C327 308 293 296 258 296C174 296 124 369 124 458C124 517 152 602 228 602Z"></path></g><g transform="matrix(.013,0,0,-0.013,34.492,0)"><path d="M241 635C89 635 35 457 35 312C35 153 89 -12 240 -12C390 -12 443 166 443 312C443 466 390 635 241 635ZM238 602C329 602 354 454 354 312C354 172 330 22 240 22C152 22 124 173 124 313S148 602 238 602Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,40.778,-5.741)"><path d="M262 451C169 451 38 375 38 210C38 98 121 -12 261 -12C360 -12 481 64 481 227C481 351 386 451 262 451ZM249 414C337 414 385 320 385 204C385 70 333 25 272 25C189 25 134 117 134 241C134 355 189 414 249 414Z"></path></g></svg>).</span></div>

Complexity

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Figure 4

Figure 4: Research on the Precession Characteristics of Hemispherical Resonator Gyro 