半球谐振陀螺（HRG）具备高精度、高可靠、长寿命等优点，产品已在海、陆、空、天各领域成功应用，相关制造、控制等技术成为振动陀螺领域的热点研究方向，但高精度、工程化 HRG 的研制依然面临较大技术挑战。 结合多年研究基础，首先从理论基础、关键技术及其发展等方面，对 HRG 的动力学模型、结构设计、材料与工艺、控制及误差补偿等技术的现阶段研究成果及存在问题展开了分析和讨论，总结了陀螺制造过程误差辨识及控制方法，提出了性能提升方案。然后介绍了国内外 HRG 典型产品的性能指标及应用情况，最后展望了 HRG 的未来发展趋势。

A hemispherical resonating gyroscope （HRG） has advantages such as high precision， high reliability， and a long lifespan. HRG products have been successfully applied in various fields， pertaining to sea， land， air， and space. The associated manufacturing， control， and other technologies have become popular research topics in the field of vibratory gyroscopes. However， the development of high-precision engineering-grade HRGs involves significant technical challenges. This paper analyzes and discusses the current achievements based on years of research， along with existing problems related to the HRG’s dynamic model， structural design， materials and processes， control， and error compensation from the perspectives of theoretical foundation， key technologies， and development. The errors are identified； the control methods used in the gyroscope manufacturing process are summarized； and performance improvement solutions are proposed. This study also introduces the performance indicators and application scenarios of typical HRG products in China and abroad. Finally， the future development trends of HRG are outlined.

TN384;TP212