Damping asymmetry is one of the most important factors that determines the performance of the hemispherical resonator gyroscope. In this paper, the error mechanism of damping asymmetry in the Whole Angle (WA) mode is investigated, and an adaptive compensation method is proposed to eliminate the angle drift induced by the damping asymmetry. This adaptive compensation approach adopts the recursive least-squares method to identify the damping asymmetry, and the optimal parameters can be calculated through simulation. Furthermore, a self-precession method is applied to make this compensation method available for more occasions. This compensation method is able to automatically complete the compensation process without any angular input or a priori information on damping distribution. According to the experimental results, the angle-dependent bias has been reduced from 0.0316 s?1 to 0.0051 s?1 by this method. The presented method is widely applicable for gyroscopes working in the WA mode, which may be useful for further research on inertial sensors with high accuracy.
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