{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,18]],"date-time":"2025-12-18T14:14:39Z","timestamp":1766067279777,"version":"3.41.2"},"reference-count":15,"publisher":"Wiley","issue":"1","license":[{"start":{"date-parts":[[2021,1,28]],"date-time":"2021-01-28T00:00:00Z","timestamp":1611792000000},"content-version":"vor","delay-in-days":27,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100007128","name":"Natural Science Foundation of Shaanxi Province","doi-asserted-by":"publisher","award":["2020JM-488"],"award-info":[{"award-number":["2020JM-488"]}],"id":[{"id":"10.13039\/501100007128","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100009103","name":"Education Department of Shaanxi Province","doi-asserted-by":"publisher","award":["20JK0728"],"award-info":[{"award-number":["20JK0728"]}],"id":[{"id":"10.13039\/501100009103","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Complexity"],"published-print":{"date-parts":[[2021,1]]},"abstract":"<jats:p>Hemispherical Resonator Gyro (HRG) is a new type gyro with high precision, high reliability, shock resistance, no need of preheating, short start time, and long life. It is a kind of vibrating gyro with standing wave rotating along the sensitive base of annular precession, has a unique application prospect in the field of high precision inertial sensors, and is widely used in unmanned aerial vehicle control in complex environments. Based on the theory of the structure characteristics of the hemispherical resonator, the mathematical model of energy of the resonator is established to research the rule of resonant frequency when the hemispherical resonator is rotated around the central axis. In this paper, the influence of precession factor, which are the top angle, the bottom angle, and wall unevenness of the hemispherical resonator, are analyzed. A series of hemispherical resonator models are constructed by ANSYS software to prove the results of theoretical research. The simulation results show that precession factor of the hemispherical resonator is more sensitive of the top angle than the bottom angle, and the error of angular velocity which is caused by the change of the top angle is larger than that which is caused by the change of the bottom angle.<\/jats:p>","DOI":"10.1155\/2021\/8825017","type":"journal-article","created":{"date-parts":[[2021,1,28]],"date-time":"2021-01-28T23:51:18Z","timestamp":1611877878000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":8,"title":["Research on the Precession Characteristics of Hemispherical Resonator Gyro"],"prefix":"10.1155","volume":"2021","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-5169-962X","authenticated-orcid":false,"given":"Li-Jun","family":"Song","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Rui","family":"Yang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Wang-Liang","family":"Zhao","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xing","family":"He","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Shaoliang","family":"Li","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"You-Jun","family":"Ding","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2021,1,28]]},"reference":[{"key":"e_1_2_10_1_2","doi-asserted-by":"crossref","unstructured":"DelhayeF. HRG by SAFRAN the game-changing technology Proceedings of the 5th IEEE International Symposium on Inertial Sensors and Systems March 2018 Moltrasio Italy https:\/\/doi.org\/10.1109\/isiss.2018.8358163 2-s2.0-85048441742.","DOI":"10.1109\/ISISS.2018.8358163"},{"key":"e_1_2_10_2_2","doi-asserted-by":"crossref","unstructured":"JeanroyA. GrossetG. GoudonJ. C. andDelhayeF. HRG by Sagem from laboratory to mass production Proceedings of the 2016 IEEE International Symposium on Inertial Sensors and Systems February 2016 Laguna Beach CA USA 1\u20134 https:\/\/doi.org\/10.1109\/ISISS.2016.7435530 2-s2.0-84964955506.","DOI":"10.1109\/ISISS.2016.7435530"},{"key":"e_1_2_10_3_2","first-page":"9","article-title":"Hemispherical resonator gyroscop e: current advances and future trends","volume":"4","author":"Yao P.","year":"2017","journal-title":"Navigation Positioning & Timing"},{"key":"e_1_2_10_4_2","first-page":"61","article-title":"Drift Mechanisms&Control of hemispherical resonant gyro","volume":"28","author":"Gao S.-L.","year":"2008","journal-title":"Journal of Projectiles, Rockets, Missiles and Guidance"},{"key":"e_1_2_10_5_2","first-page":"61","article-title":"Sttudy of basic theories of hemispherical resonator gyros","volume":"28","author":"Fang Z.","year":"2008","journal-title":"Navigation Positioning&Timing"},{"key":"e_1_2_10_6_2","first-page":"1","volume-title":"Etal Solide State Wave Gyro","author":"Matveev V. 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