According to basic principle and actual feature of HRG( Hemispherical Resonator Gyro), the paper introduces signal measuring method of HRG based on whole angle mode.

• 半球谐振陀螺由于制造工艺和其它因素的影响,其结构难免出现误差,会对测量结果产生影响,同时漂移的存在也会降低测量结果的精度。