Hemispherical resonator gyroscope is a solidstate vibrating structure gyroscope which measures the angle change of outside depending on the vibration of hemispherical shell. Vibration error of the hemispherical shell is the important reason affecting precision of the gyroscope. Studies on the source of the error vibration and how to minimize the error vibration; and researches on controlling residual error vibration are the preconditions to realize high precision of hemispherical resonator gyroscope.