Joint compensation of time delay and damping asymmetry errors for whole-angle hemispherical resonator gyroscopes

In whole-angle mode hemispherical resonator gyroscope (HRG) systems, time delay and damping asymmetry are critical factors affecting measurement accuracy and long-term stability. Time delay originates from signal acquisition and processing latency, resulting in misalignment between the input angular velocity and the output signal. Damping asymmetry, caused by non-uniform damping distribution within the resonator, further contributes to angle drift bias (ADB). To address these issues, this paper proposes a joint compensation method integrating cross-correlation time delay estimation with a recursive least squares algorithm. The method first estimates the system delay by analyzing the time lag between excitation and output signals, then iteratively identifies damping asymmetry parameters based on angular velocity data. Experimental results show that the proposed method reduces ADB to 1.2132°/h, representing an eightfold improvement over damping-asymmetry-only compensation (9.72°/h) and a 51.5-fold improvement compared to the uncompensated case (62.52°/h). These results underscore the non-negligible impact of time delay and the effectiveness of joint compensation in enhancing HRG performance.